hi everyone!
I am working with a simulated erratic model in gazebo, the model is the same that it is in the erratic simulation tutorial. The thing is that I have build a 3d map inside an empty world and i want to show that in rviz, so I am using the map server to show the map. As I have problems with the localization of the robot in the map that I showing in the rviz, I tried with the node fake-localization, but i have still drift with the laser points. Therefore my intention is to use the amcl node to have a better localization of my robot using the simulated laser info.
I am launching this files:
<launch>
<!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/pr2/erratic_defs/robots for full erratic -->
<!-- start up wg world -->
<include file="$(find gazebo_worlds)/launch/testing_world.launch"/>
<!--<include file="$(find erratic_nav)/amcl.launch"/> -->
<!-- Static transforms -->
<include file="$(find han_Scene)/launch/static_transforms.launch"/>
<!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find han_Scene)/scenarios/bar/map_config.yaml" />-->
<!-- Create a transform sender for linking these frames.
<node name="tf_footprint_base" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 base_link base_footprint 40" /> -->
<!-- send pr2.xml to param server -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find erratic_gazebo)/robots/erratic.urdf.xacro'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_erratic" pkg="gazebo_tools" type="gazebo_model" args="-z 0.051 -p robot_description spawn robot_description" respawn="false" output="screen" />
<!-- Controller Manager -->
<include file="$(find pr2_controller_manager)/controller_manager.launch" />
<!-- Fake Calibration -->
<node pkg="rostopic" type="rostopic" name="fake_joint_calibration" args="pub /calibrated std_msgs/Bool true" />
<!-- load controllers -->
<node name="diffdrive" pkg="gazebo_plugins" type="gazebo_ros_diffdrive" respawn="true" output="screen"/>
<!-- Fake Localization
<node name="fake_localization" pkg="fake_localization" type="fake_localization" /> -->
<node pkg="amcl" type="amcl" name="amcl">
<remap from="scan" to="/base_scan" />
</node>
</launch>
<launch>
<!-- start gazebo with an empty plane -->
<param name="/use_sim_time" value="true" />
<node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_worlds)/worlds/empty.world" respawn="false" output="screen"/>
<!-- wg walls-->
<param name="walls" textfile="$(find han_Scene)/scenarios/bar/walls.model" />
<node name="xml2factor_wg_walls" pkg="gazebo" type="spawn_model" args="-gazebo -param walls -x -7.65 -y -7.65 -model walls" respawn="false" output="screen" />
</launch>
The thing is when I do this I have this error and its dies the amcl:
[amcl-15] process has died [pid 902, exit code -6].
log files: /home/robot/.ros/log/d5d7c27a-0d21-11e0-a4d4-0026b9e75b87/amcl-15*.log
If I try the same without launching the map_server node there is no problem. So is the amcl incompatible with the gazebo's simulations? how can I do this?
Thanks, i have try everything but I can't solve it.
Nicolas
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