[ros-users] erratic gazebo path planning

Sat May 8 23:07:23 UTC 2010

Hitesh,

These are parameters and you will need to set them appropriately for your
system, they have defaults but there's no other logic.

If you are not going to be running localization, I would suggest you set
both of them to use odom as their "global_frame".  Using base_link will not
work, that will cause the obstacles to be aggregated in the frame of the
robot, and they won't update as the robot moves past the obstacles.

Tully

On Sat, May 8, 2010 at 12:56 AM, hitesh dhiman <hitesh.dhiman.1988 at gmail.com
> wrote:

> Hi all,
> Thanks for the help. I checked and compared the costmap parameters file,
> and in our case the laser_marking for base_scan was set to false. Once that
> was set to true, we could see the inflated obstacles and the path planning
> also worked.
> Now, the tf tree for the simulation is as follows:
>
>                                                                       / -->
> /base_laser
>                                                                      /
> /map -----> /odom -------> /base_link ----- /------> /base_caster &
> /base_top
>                                                                     \
>                                                                      \
>                                                                       \
>  --> /base_footprint
>
>
> The next part for us is to run the robot in the real world, but we don't
> have a predefined map. We just want to give the robot a goal of 1m forward
> using simple_navigation_goals in an unknown environment.  We are using the
> robot's actual odometry information.
> So my question is this: in the absence of a /map frame, will /odom be the
> global frame for both global and local costmap? Or will it shift down the
> heirarchy, for example now we have /map and /odom as global frames for
> global and local costmap respectively, will it be /odom and /base_link
> then??
>
>
>
>
> On Sat, May 8, 2010 at 12:57 PM, Anh Tran <anhxuan.tran at gmail.com> wrote:
>
>> Hello Hitesh,
>>
>> Let me elaborate on Anton's reply.
>>
>> 1. You will need several packages from our ua-ros-pkg repository.  It
>> might be easiest to checkout all packages from here (see our wiki pages from
>> same link for instructions): http://code.google.com/p/ua-ros-pkg/
>>
>> <http://code.google.com/p/ua-ros-pkg/>2. Checkout the wubble_navigation
>> package for a demo:
>> http://code.google.com/p/ua-cs665-ros-pkg/source/browse/#svn/trunk/ua_navigation/wubble_navigation
>>
>>
>> <http://code.google.com/p/ua-cs665-ros-pkg/source/browse/#svn/trunk/ua_navigation/wubble_navigation>3.
>> Rosmake wubble_navigation and launch the demos in that package.
>>
>>
>> Checkout this youtube video to see how 2dnav works with our current
>> erratic model: http://www.youtube.com/watch?v=aA0gOd2P5jk
>>
>>
>>
>> Cheers,
>> Anh Tran
>>
>>
>>
>> On Fri, May 7, 2010 at 1:20 PM, Antons Rebguns <arebgun at gmail.com> wrote:
>>
>>> -----BEGIN PGP SIGNED MESSAGE-----
>>> Hash: SHA1
>>>
>>> Hi Hitesh,
>>>
>>> We spent some time getting the nav stack working for our erratic robot
>>> both in simulation and real robot. Maybe you can
>>> take a look at this package and see if that works for you.
>>>
>>> You would need ua_navigation stack from
>>> http://code.google.com/p/ua-cs665-ros-pkg/ (specifically look at
>>>
>>> http://code.google.com/p/ua-cs665-ros-pkg/source/browse/trunk/ua_navigation/wubble_navigation/launch/2dnav_wg.launch
>>> launch file) and stuff from http://code.google.com/p/ua-ros-pkg/.
>>>
>>> There are instruction on the wiki how to download and compile everything,
>>> but let me know if you have any questions.
>>>
>>> Anton
>>>
>>> On 05/06/2010 05:08 AM, hitesh dhiman wrote:
>>> > Hi all,
>>> > I'm trying to run the erratic gazebo path planning, using the willow
>>> > garage map provided.
>>> > I'm using all custom parameters. However, the path planning seems to be
>>> > faltering. It is actually planning a path through the wall, I've also
>>> > attached a picture showing the path planning.
>>> > Also, the inflated costmap is not being displayed, although the
>>> messages
>>> > are being published and the rviz status says ok.
>>> > Any idea what might be wrong?
>>> >
>>> >
>>> > --
>>> > Regards,
>>> > Hitesh Dhiman
>>> > Electrical Engineering
>>> > National University of Singapore
>>> >
>>> >
>>> >
>>> > _______________________________________________
>>> > ros-users mailing list
>>> > ros-users at code.ros.org
>>> > https://code.ros.org/mailman/listinfo/ros-users
>>>
>>> -----BEGIN PGP SIGNATURE-----
>>> Version: GnuPG v1.4.10 (GNU/Linux)
>>> Comment: Using GnuPG with Mozilla - http://enigmail.mozdev.org/
>>>
>>> iEYEARECAAYFAkvkdg0ACgkQ1B2I24nMQmp66QCeOgMh0sQgI465mQfvy4tldGt0
>>> u3QAnjSNBPfRvaQbAz5MorzffBxQ/V2j
>>> =x38F
>>> -----END PGP SIGNATURE-----
>>> _______________________________________________
>>> 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
>>
>>
>
>
> --
> Regards,
> Hitesh Dhiman
> Electrical Engineering
> National University of Singapore
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>

-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.ros.org/pipermail/ros-users/attachments/20100508/f49e86c4/attachment-0004.html>