[ros-users] Problems in running navigation stack

[hitesh dhiman]

Hi,
actually i did use the tutorial to configure the robot. My setup is almost
the same as the files listed in the tutorial, except that the costmap
configuration is set to a differential robot.
>From what i could see using rxgraph, i'm getting the following messages into
move_base:

1) Odometry
2) Odometry tf
3) laser tf (base_link to base_laser)
4) laserscan

I'm not using a static map, so I removd amcl from move_base.launch.
When i start the move_base.launch file, i get the following:

[ INFO] 1271252548.078700000: Subscribed to Topics: laser_scan_sensor
[ INFO] 1271252548.178918000: MAP SIZE: 199, 199
[ INFO] 1271252548.185354000: Subscribed to Topics: laser_scan_sensor
[ WARN] 1271252563.370080000: MessageNotifier [topic=scan,
target=/base_laser /base_laser ]: Dropped 100.00% of messages so far. Please
turn the [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for
more information.

Using rxloggerlevel to debug, here's the output:

[DEBUG] 1271251959.320831000: MessageNotifier [topic=scan, target=/odom
/base_laser ]: Added message in frame laser at time 1271251959.264, count
now 50
[DEBUG] 1271251959.320973000: MessageNotifier [topic=scan, target=/odom
/base_laser ]: Removed oldest message because buffer is full, count now 50
(frame_id=laser, stamp=1271251958.043920)

[DEBUG] 1271251959.599588000: MessageNotifier [topic=scan,
target=/base_laser /base_laser ]: Successful Transforms: 0, Failed
Transforms: 4051196, Discarded due to age: 0, Transform messages received:
67611, Messages received: 26918, Total dropped: 26868

Also, to view the laser scan image in rviz, i get the following error:

TOPIC : No messages received
Transform[sender=/laser] : For frame [laser]: Frame [laser] does not exist


Any suggestions?

On Wed, Apr 14, 2010 at 1:01 AM, Eitan Marder-Eppstein <
eitan at willowgarage.com> wrote:

> Hitesh,
>
> If you're trying to run the navigation stack on your own robot, I'd suggest
> reading the following tutorial first,
> http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/, as it will
> explain how the pieces of the navigation stack work and how you'll need to
> configure your robot.
>
> From the errors you listed, it looks like your robot may not be publishing
> odometry information to the navigation stack. Also, amcl will not work
> without a static map... so that's expected.
>
> Hopefully, the tutorial will help, feel free to post again if you have
> other questions,
>
> Eitan
>
> On Tue, Apr 13, 2010 at 5:49 AM, hitesh dhiman <
> hitesh.dhiman.1988 at gmail.com> wrote:
>
>> Hi all,
>> I've been trying to run the navigation stack. However, upon running
>> move_base.launch, i get the following message:
>>
>> [ WARN] 1271162502.543875000: Costmap2DROS transform timeout. Current
>> time: 1271162502.5438, global_pose stamp: 1271162501.8677, tolerance: 0.3000
>>
>> I tried changing the tolerance value to 1. move_base.launch starts with
>> the following:
>> [ INFO] 1271162733.968657000: Subscribed to Topics: laser_scan_sensor
>> [ INFO] 1271162734.066727000: MAP SIZE: 199, 199
>>
>> A second later, i start getting these messages:
>>
>> [ WARN] 1271162749.245438000: MessageNotifier [topic=scan, target=/odom
>> /base_laser ]: Dropped 100.00% of messages so far. Please turn the
>> [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for more
>> information.
>>
>> rxconsole gives the following:
>> Request for map failed, trying again...  Warn /amcl
>> This could be because i'm not using any static map. Even so, move_base is
>> not publishing any messages out.
>>
>> Any help would be appreciated. I'm not able to figure out where the
>> problem is.
>>
>> --
>> Regards,
>> Hitesh Dhiman
>> Electrical Engineering
>> National University of Singapore
>>
>>
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-- 
Regards,
Hitesh Dhiman
Electrical Engineering
National University of Singapore
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