[ros-users] problems with nav_view / nav stack

Eitan Marder-Eppstein eitan at willowgarage.com
Sat Apr 24 16:48:49 UTC 2010


If any of the transform publishers are on a different machine from one
another... time synchronization between the computers becomes pretty
important. So, running localization on-board the robot is probably a good
idea. When you say that putting everything on the robot lead to some
success, do you mean that things are working, that you were just able to
lower the tolerance a little bit, or something else? You shouldn't need to
run nav_view off the robot... but the navigation stack should probably all
be running on-board for the best results.

Hope all is well,


On Thu, Apr 22, 2010 at 11:00 AM, David Lu!! <davidvlu at gmail.com> wrote:

> Map->odom 10.245 Hz
> Odom->Base 10.209 Hz
> Base->Laser 30.203 Hz
> (according to view_frames)
> Odom->base is being published from the B21 node, which also publishes joint
> states, which go through an aggregator node to the robot_state_publisher
> node, which publishes base->laser.
> I should note, I had been running these tests with only the B21 node on the
> robot, and the rest running on a different machine. Putting everything on
> the robot did lead to some success.
> -David!!
> On Thu, Apr 22, 2010 at 9:13 AM, Brian Gerkey <gerkey at willowgarage.com>wrote:
>> On Wed, Apr 21, 2010 at 6:11 PM, David Lu!! <davidvlu at gmail.com> wrote:
>> > tf view_frames shows everything connected. The most concerning part is
>> that
>> > the map->odom and odom->base transforms are 1.564 sec old.
>> > The problem remains that setting the pose in nav_view does not actually
>> > change the pose. The laser scans are now showing up as obstacles around
>> the
>> > robot's footprint, but that footprint is in the wrong spot. I've solved
>> that
>> > by making transform_tolerance: 10 on the costmaps. That doesn't quite
>> seem
>> > like the right approach. How else can I speed up my tfs?
>> hi David,
>> How are you publishing the odom->base and base->laser transforms?  If
>> one or both of them is being published too slowly, it could lead to
>> the problems that you're seeing.
>>        brian.
>> _______________________________________________
>> ros-users mailing list
>> ros-users at code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.ros.org/pipermail/ros-users/attachments/20100424/d994cb35/attachment-0004.html>

More information about the ros-users mailing list