[ros-users] Gazebo-Erratic-Amcl-rviz

[John Hsu]

it seems erratic_gazebo<https://code.ros.org/svn/wg-ros-pkg/stacks/wg_robots_gazebo/trunk/erratic_gazebo>launch
files for 2dnav stack has fallen out of date,
the "old" saying is true after all... "untested software is broken software"
:)

if the arrg stack works (or a brave soul can revive the example based on the
tested pr2 navigation
package<https://code.ros.org/svn/wg-ros-pkg/stacks/wg_robots_gazebo/trunk/test_pr2_2dnav_gazebo>),
we should consider creating a regression test for the erratic 2dnav demo and
I'll happily add it to the
hudson<http://build.willowgarage.com/view/gazebo>collection.

John

On Tue, Dec 21, 2010 at 9:42 PM, Antons Rebguns <anton at email.arizona.edu>wrote:

> Nicolás,
>
> The erratic stack in WG repository is not maintained anymore. Can you try
> an erratic stack from our repository and see if it works better for you. I
> just added a few demos of nav stack in there. The source code is available
> here:
>
> http://ua-ros-pkg.googlecode.com/svn/trunk/arrg/videre_erratic/
>
> There are a few launch files in erratic_navigation_apps stack under
> gazebo_demo folder that you might try.
>
> Let me know if you have any problems.
>
> Thanks,
> Anton
>
> 2010/12/21 Nicolás Alvarez Picco <nicolasapicco at hotmail.com>
>
>>  hi everyone!
>> I am working with a simulated erratic model in gazebo, the model is the
>> same that it is in the erratic simulation tutorial. The thing is that I have
>> build a 3d map inside an empty world and i want to show that in rviz, so I
>> am using the map server to show the map. As I have problems with the
>> localization of the robot in the map that I showing in the rviz, I tried
>> with the node fake-localization, but i have still drift with the laser
>> points. Therefore my intention is to use the amcl node to have a better
>> localization of my robot using the simulated laser info.
>> I am launching this files:
>>
>> <launch>
>>   <!-- this launch file corresponds to robot model in
>> ros-pkg/robot_descriptions/pr2/erratic_defs/robots for full erratic -->
>>   <!-- start up wg world -->
>>   <include file="$(find gazebo_worlds)/launch/testing_world.launch"/>
>>   <!--<include file="$(find erratic_nav)/amcl.launch"/>  -->
>>    <!-- Static transforms -->
>>     <include file="$(find han_Scene)/launch/static_transforms.launch"/>
>>
>>   <!-- <node name="map_server" pkg="map_server" type="map_server"
>> args="$(find han_Scene)/scenarios/bar/map_config.yaml" />-->
>>
>>   <!-- Create a transform sender for linking these frames.
>>   <node name="tf_footprint_base" pkg="tf"
>> type="static_transform_publisher" args="0 0 0 0 0 0 base_link base_footprint
>> 40" />    -->
>>
>>   <!-- send pr2.xml to param server -->
>>   <param name="robot_description" command="$(find xacro)/xacro.py '$(find
>> erratic_gazebo)/robots/erratic.urdf.xacro'" />
>>
>>   <!-- push robot_description to factory and spawn robot in gazebo -->
>>   <node name="spawn_erratic" pkg="gazebo_tools" type="gazebo_model"
>> args="-z 0.051 -p robot_description spawn robot_description" respawn="false"
>> output="screen" />
>>
>>   <!-- Controller Manager -->
>>   <include file="$(find pr2_controller_manager)/controller_manager.launch"
>> />
>>
>>   <!-- Fake Calibration -->
>>   <node pkg="rostopic" type="rostopic" name="fake_joint_calibration"
>> args="pub /calibrated std_msgs/Bool true" />
>>
>>   <!-- load controllers -->
>>   <node name="diffdrive" pkg="gazebo_plugins" type="gazebo_ros_diffdrive"
>> respawn="true" output="screen"/>
>>
>>     <!-- Fake Localization
>>   <node name="fake_localization" pkg="fake_localization"
>> type="fake_localization" /> -->
>>
>>   <node pkg="amcl" type="amcl" name="amcl">
>>   <remap from="scan" to="/base_scan" />
>>   </node>
>>
>> </launch>
>>
>>
>>
>> <launch>
>>
>>   <!-- start gazebo with an empty plane -->
>>   <param name="/use_sim_time" value="true" />
>>
>>    <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find
>> gazebo_worlds)/worlds/empty.world" respawn="false" output="screen"/>
>>
>>   <!-- wg walls-->
>>   <param name="walls" textfile="$(find
>> han_Scene)/scenarios/bar/walls.model" />
>>   <node name="xml2factor_wg_walls" pkg="gazebo" type="spawn_model"
>> args="-gazebo -param walls -x -7.65 -y -7.65 -model walls" respawn="false"
>> output="screen" />
>> </launch>
>>
>> The thing is when I do this I have this error and its dies the amcl:
>>
>> [amcl-15] process has died [pid 902, exit code -6].
>> log files:
>> /home/robot/.ros/log/d5d7c27a-0d21-11e0-a4d4-0026b9e75b87/amcl-15*.log
>>
>> If I try the same without launching the map_server node there is no
>> problem. So is the amcl incompatible with the gazebo's simulations? how can
>> I do this?
>>
>> Thanks, i have try everything but I can't solve it.
>>
>> Nicolas
>>
>> _______________________________________________
>> 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/20101229/0e2c36ec/attachment-0003.html>