[ros-users] Navigation stack : Error : Aborting because a valid plan could not be found

[shankerk]

Hi Eitan,

Thanks for your reply. I tried the "RVIZ with navigation stack" tutorial.
The map was displayed properly, and I also added the pose array. But I was
unable to display the polygon showing the robot footprint. RVIZ warns me
that there are no messages received in
move_base/local_costmap/robot_footprint. There are also no messages received
for move_base/local_costmap/obstacles or inflated obstacles. And indeed,
when I 'rostopic echo' robot_footprint, I get no messages. 

At this point, I went through all my files again and noticed that in
'costmap_common_params.yaml', I had written the robot footprint values in
centimeters and not in meters. I corrected this, so now the file looks like:

Costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.275,0.325], [-0.275,0.325], [-0.275,-0.325], [0.275,-0.325]]

observation_sources: laser_scan_sensor
transform_tolerance: 2.0
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan,
marking: true, clearing: true} 

inflation_radius: 0.55 

I ran the simulation again. And the errors are still the same with no
differences. So I believe that was not the problem anyway. 

When I run the Rviz with navigation goals tutorial,

I get the warning:
[ INFO] [1291168915.975023299]: Received a 384 X 832 map at 0.100000 m/pix

[ WARN] [1291168933.842753803]: The origin for the sensor at (0.10, -0.00,
0.00) is out of map bounds. So, the costmap cannot raytrace for it.
[ WARN] [1291168986.842490604]: The origin for the sensor at (0.10, -0.00,
0.00) is out of map bounds. So, the costmap cannot raytrace for it.

At this point, roswtf gives me:

roswtf:
shanker at DFKIShankerMBpro:~/Workspace/nifti/initial/subarchitectures/navigation.sa$
roswtf
Loaded plugin tf.tfwtf
Package: navigation.sa
================================================================================
Static checks summary:

No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete

Online checks summary:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /amcl:
   * /reset_time
 * /rviz_1291167645895723737:
   * /reset_time
 * /move_base:
   * /move_base_simple/goal
   * /move_base/cancel
   * /reset_time
   * /tf_message

WARNING The following nodes are unexpectedly connected:
 * /driver->/rosout (/rosout)
 * /move_base->/rosout (/rosout)
 * /initialpose->/rosout (/rosout)
 * /sicklms->/rosout (/rosout)
 * /amcl->/rosout (/rosout)
 * /rviz_1291167645895723737->/rosout (/rosout)
 * /map_server->/rosout (/rosout)
 * /tflaserlink->/rosout (/rosout)
 * /odomesub->/rosout (/rosout)

I will check localization without navigation and post my results.

Thanks for your help!

Shanker
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