[ros-users] Problems in running navigation stack

Wed Apr 14 17:06:44 UTC 2010

Hitesh,

First off, it seems like something might be weird with your laser scans. You
need to make sure of two things:

1) That the header in the laser messages sent out contain the correct
frame_id and timestamp for tf to be able to use them.
2) That the transform betweeen odom and [your_laser_frame_name] exists in
your tf tree. You can "rosrun tf view_frames" to generate a pdf of your tf
tree which you can check.

To verify that things are working, try to view laser scans in rviz with both
fixed and target frame set to odom. If you see them show up... things are
good.

Next, to use the navigation stack in the odometric frame, you'll have to
change some of the parameters in the global_costmap_params.yaml file to tell
it that you want it to operate in an odometric frame rather than using a
static map. Something like the following configuration should work:

global_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 0.0
  static_map: false
  rolling_window: true
  width: 20.0
  height: 20.0
  resolution: 0.05

This will give you a 20m x 20m around the robot in which you can send goals
in the odometric frame.

Hope this helps a bit,

Eitan

On Wed, Apr 14, 2010 at 6:48 AM, hitesh dhiman <hitesh.dhiman.1988 at gmail.com
> wrote:

> 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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