[ros-users] Navigation stack in Stage

Eitan Marder-Eppstein eitan at willowgarage.com
Tue May 11 16:57:43 UTC 2010


The first error that you're seeing means that the sensor for the robot is
off the map... specifically the world coordinates (-0.03, -0.06, 0.15) have
no matching cell in the occupancy grid served by the map server. Since
you're using stage... I'd suggest moving the robot's initial starting
position to something other than (0,0,0) in the map. For things to work
well, the robot's footprint should be completely contained within the map
served by the map server.

The second error is also caused by the robot's starting position. If the
robot manages to rotate a bit... its center point may map to a world
coordinate that has no matching cell in the occupancy grid. In this case,
there is no way to create a plan for the robot.

I imagine that having the robot start inside of map bounds will fix both of
these problems. Please let us know if you continue to have issues.

Hope all is well,


On Tue, May 11, 2010 at 6:57 AM, Enea Scioni
<enea.scioni at student.unife.it>wrote:

> Hi Gorka,
> which nodes are you using? could you report the output of "rosnode list"?
> I think that your problem could be an error by the map server node: it
> seems
> like the robot's pose is correct in stage world, but not in the map server,
> like as your robot's pose is out of the map that the map_server node
> publish. Maybe you should check the map_server's arguments (or the pose and
> size3 vector in stage .world file)
> Enea Scioni
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