[ros-users] problems with nav_view / nav stack

Eitan Marder-Eppstein eitan at willowgarage.com
Fri Apr 16 21:12:33 UTC 2010


Those are strange problems to have. A hunch I have is that nav_view has
dropped its TCP connection to the robot for one reason or another on certain
topics. This happens to us sometimes when we're switching between being
connected to our robots over ethernet to wireless or when we lose
connectivity to the robot for long periods of time. I'd be curious about a
few things:

1) Can you get things to start displaying in nav_view by running the
following command:
     rosrun topic_tools relay [missing_topic_name] [missing_topic_name]
    This will re-advertise the topic and cause nav_view to refresh its TCP

2) Are you sure that the robot can connect to the machine that's running
nav_view? Have you been running rostopic echo on the robot itself? Or on the
local machine?

3) If you use rviz, do you see the same kind of problems. If this is a
network issue, I'd expect you to see the same problems, but it'd be useful
to know.

Hopefully this helps or we at least find out more about what's going on.

Hope all is well,


On Fri, Apr 16, 2010 at 1:54 PM, Dan Lazewatsky
<lazewatskyd at cse.wustl.edu>wrote:

> Hi all -
> We've been trying to get the nav stack running on one of our robots and
> are having some frustrating and not totally reproducible problems. Nav
> is setup from config files that I got working on an erratic and have
> modified for this robot. When I start up nav_view after getting amcl,
> move_base and the like going, most of the time I don't see any laser
> scan, inflated obstacles etc. in nav_view and using Set Pose doesn't do
> anything. move_base/local_costmap/obstacles is publishing data, and
> rxgraph shows it connected to nav_view. When I use Set Pose, I can see
> the message getting sent off, but the new pose is not reflected in
> nav_view. Sometimes, I'll see the inflated obstacles in nav_view, but
> once the map shows up they disappear.
> Any help would be much appreciated,
> -Dan
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> ros-users at code.ros.org
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