Hi could you ask this on answers.ros.org please.
Thanks,
Tully
On Wed, Feb 23, 2011 at 9:46 AM, szokei <
istvan_szoke83@yahoo.com> wrote:
>
> Hello ,
>
> I'm trying to execute the code from "Tutorials/stage and navigation stack",
> roslaunch awesomeros robot.launch
>
>
> started roslaunch server http://istvan-System-Product-Name:56169/
>
> SUMMARY
> ========
>
> PARAMETERS
> * /use_sim_time
> * /move_base_node/global_costmap/observation_sources
> * /amcl/gui_publish_rate
> * /move_base_node/local_costmap/origin_y
> * /move_base_node/local_costmap/origin_x
> * /move_base_node/local_costmap/update_frequency
> * /move_base_node/local_costmap/origin_z
> * /move_base_node/global_costmap/base_scan/max_obstacle_height
> * /move_base_node/global_costmap/origin_z
> * /move_base_node/local_costmap/base_scan/marking
> * /move_base_node/local_costmap/observation_sources
> * /move_base_node/TrajectoryPlannerROS/vx_samples
> * /move_base_node/local_costmap/base_scan/raytrace_range
> * /amcl/recovery_alpha_slow
> * /move_base_node/local_costmap/base_scan/clearing
> * /move_base_node/global_costmap/mark_threshold
> * /amcl/laser_z_short
> * /move_base_node/local_costmap/max_obstacle_height
> * /move_base_node/TrajectoryPlannerROS/sim_time
> * /move_base_node/TrajectoryPlannerROS/max_vel_x
> * /amcl/laser_z_max
> * /amcl/laser_z_rand
> * /move_base_node/TrajectoryPlannerROS/acc_lim_th
> * /move_base_node/global_costmap/base_scan/observation_persistence
> * /move_base_node/local_costmap/inflation_radius
> * /move_base_node/global_costmap/map_type
> * /move_base_node/TrajectoryPlannerROS/acc_lim_y
> * /move_base_node/TrajectoryPlannerROS/acc_lim_x
> * /move_base_node/global_costmap/static_map
> * /move_base_node/global_costmap/base_scan/data_type
> * /move_base_node/local_costmap/base_scan/min_obstacle_height
> * /move_base_node/global_costmap/footprint
> * /amcl/laser_lambda_short
> * /move_base_node/TrajectoryPlannerROS/sim_granularity
> * /move_base_node/local_costmap/base_scan/observation_persistence
> * /amcl/laser_max_beams
> * /move_base_node/local_costmap/z_resolution
> * /move_base_node/TrajectoryPlannerROS/min_vel_x
> * /move_base_node/local_costmap/map_type
> * /move_base_node/global_costmap/lethal_cost_threshold
> * /move_base_node/TrajectoryPlannerROS/heading_lookahead
> * /amcl/odom_model_type
> * /amcl/laser_sigma_hit
> * /amcl/recovery_alpha_fast
> * /move_base_node/global_costmap/inflation_radius
> * /move_base_node/global_costmap/z_voxels
> * /move_base_node/local_costmap/base_scan/data_type
> * /move_base_node/local_costmap/transform_tolerance
> * /move_base_node/global_costmap/robot_base_frame
> * /move_base_node/global_costmap/transform_tolerance
> * /move_base_node/local_costmap/global_frame
> * /move_base_node/local_costmap/rolling_window
> * /move_base_node/TrajectoryPlannerROS/dwa
> * /amcl/odom_alpha5
> * /amcl/odom_alpha1
> * /amcl/odom_alpha2
> * /amcl/odom_alpha3
> * /amcl/odom_alpha4
> * /move_base_node/local_costmap/width
> * /stageros/base_watchdog_timeout
> * /move_base_node/global_costmap/base_scan/clearing
> * /move_base_node/local_costmap/publish_frequency
> * /amcl/max_particles
> * /move_base_node/local_costmap/height
> * /move_base_node/local_costmap/base_scan/obstacle_range
> * /move_base_node/local_costmap/static_map
> * /move_base_node/global_costmap/cost_scaling_factor
> * /move_base_node/TrajectoryPlannerROS/yaw_goal_tolerance
> * /amcl/min_particles
> * /move_base_node/global_costmap/global_frame
> * /move_base_node/controller_frequency
> * /move_base_node/local_costmap/cost_scaling_factor
> * /move_base_node/TrajectoryPlannerROS/max_rotational_vel
> * /amcl/laser_model_type
> * /move_base_node/global_costmap/publish_frequency
> * /move_base_node/TrajectoryPlannerROS/goal_distance_bias
> * /amcl/transform_tolerance
> * /amcl/kld_err
> * /amcl/resample_interval
> * /move_base_node/global_costmap/update_frequency
> * /move_base_node/global_costmap/base_scan/obstacle_range
> * /move_base_node/local_costmap/mark_threshold
> * /move_base_node/local_costmap/base_scan/max_obstacle_height
> * /move_base_node/TrajectoryPlannerROS/vtheta_samples
> * /move_base_node/local_costmap/robot_base_frame
> * /move_base_node/local_costmap/lethal_cost_threshold
> * /move_base_node/global_costmap/z_resolution
> * /move_base_node/TrajectoryPlannerROS/holonomic_robot
> * /move_base_node/local_costmap/footprint
> * /move_base_node/global_costmap/rolling_window
> * /amcl/laser_z_hit
> * /move_base_node/global_costmap/base_scan/expected_update_rate
> * /move_base_node/global_costmap/base_scan/raytrace_range
> * /amcl/update_min_d
> * /move_base_node/TrajectoryPlannerROS/min_in_place_rotational_vel
> * /move_base_node/global_costmap/unknown_threshold
> * /move_base_node/TrajectoryPlannerROS/path_distance_bias
> * /move_base_node/global_costmap/max_obstacle_height
> * /amcl/odom_frame_id
> * /move_base_node/local_costmap/unknown_threshold
> * /move_base_node/global_costmap/base_scan/marking
> * /move_base_node/NavfnROS/allow_unknown
> * /move_base_node/global_costmap/base_scan/min_obstacle_height
> * /move_base_node/local_costmap/z_voxels
> * /move_base_node/local_costmap/resolution
> * /move_base_node/footprint_padding
> * /move_base_node/TrajectoryPlannerROS/backup_vel
> * /move_base_node/TrajectoryPlannerROS/oscillation_reset_dist
> * /amcl/kld_z
> * /move_base_node/global_costmap/footprint_padding
> * /move_base_node/local_costmap/base_scan/expected_update_rate
> * /move_base_node/local_costmap/footprint_padding
> * /amcl/update_min_a
> * /amcl/laser_likelihood_max_dist
> * /move_base_node/local_costmap/publish_voxel_map
> * /amcl/initial_pose_x
> * /amcl/initial_pose_y
> * /move_base_node/TrajectoryPlannerROS/occdist_scale
> * /move_base_node/TrajectoryPlannerROS/xy_goal_tolerance
>
> NODES
> /
> move_base_node (move_base/move_base)
> map_server (map_server/map_server)
> stageros (stage/stageros)
> amcl (amcl/amcl)
> /local_costmap/
> voxel_grid_throttle (topic_tools/throttle)
>
> ROS_MASTER_URI=http://istvan-System-Product-Name:11311/
>
> core service [/rosout] found
> process[voxel_grid_throttle-1]: started with pid [10804]
> process[move_base_node-2]: started with pid [10805]
> process[map_server-3]: started with pid [10806]
> process[stageros-4]: started with pid [10807]
> process[amcl-5]: started with pid [10814]
> err: /opt/ros/cturtle/stacks/ros_tutorials/awesomeros/world/willow.world:21
> : syntax error 2
>
> (/tmp/buildd/ros-cturtle-simulator-stage-1.2.4/debian/ros-cturtle-simulator-stage/opt/ros/cturtle/stacks/simulator_stage/stage/build/Stage-3.2.2-Source/libstage/worldfile.cc
> ParseTokenWord)
> [ INFO] [1298482640.454591335, 2.700000000]: Subscribed to Topics:
> base_scan
> [ WARN] [1298482645.543905205, 7.800000000]: Waiting on transform from
> base_link to /map to become available before running costmap, tf error:
> Frame id /base_link does not exist!
>
>
> Thank you.
> --
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--
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote@willowgarage.com
(650) 475-2827
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