[ros-users] Navigation stack and stage

nitinDhiman nitinkdhiman at gmail.com
Mon Jul 12 09:53:49 UTC 2010


I got this example working (partialy) on Boxturtle installed using debs on
Debian Squeeze, with use of following move_base.xml file:
  <master auto="start"/>

  <!-- Run the map server
  <node name="map_server" pkg="map_server" type="map_server" args="$(find
stage)/world/willow-full.pgm 0.2"/> -->

  <!--- Run AMCL
  <include file="$(find amcl)/examples/amcl_omni.launch" /> -->

  <node pkg="move_base" type="move_base" respawn="false" name="move_base"
    <rosparam file="$(find awesomeros)/costmap_common_params.yaml"
command="load" ns="global_costmap" />
    <rosparam file="$(find awesomeros)/costmap_common_params.yaml"
command="load" ns="local_costmap" />
    <rosparam file="$(find awesomeros)/local_costmap_params.yaml"
command="load" />
    <rosparam file="$(find awesomeros)/global_costmap_params.yaml"
command="load" />
    <rosparam file="$(find awesomeros)/base_local_planner_params.yaml"
command="load" />

This is an adaptation from 
http://www.ros.org/wiki/navigation/Tutorials/RobotSetup. I do not have
understanding of all things here. Here are some of  the observations:

a. Map visible on rviz is not registered with same co-ordinates as in stage.
Navigation goal given using rviz do not correspond to same location on stage
b. A list of continuous warnings which are:
  x. Control loop missed its desired update rate .........
  y.   [ WARN] 1819.600000000: Map update loop missed its desired rate of
5.0000Hz... the loop actually took 0.3000 seconds
 z. [ WARN] 1819.100000000: Costmap2DROS transform timeout. Current time:
1819.1000, global_pose stamp: 1818.7000, tolerance: 0.3000

c. Warning on launching stage - inflaction radius is less than inscribed and
circumscribed radi of robot.
d. Origin of sensor is out of map bounds. So, the cost map cannot ray trace
for it.
e. Sometimes in rviz::
     Static Map: No transform from [map] to [/odom]

One more peculiar observation is regarding cpu usages. When both stage and
rviz are running cpu's load is around 60% but as rviz is killed, cpu load
peaks to around 95%.

Are these observations normal??
I had still not been able to work it out on Cturtle. 


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