[ros-users] Navigation Goal

[Eitan Marder-Eppstein]

Safdar,

Those control loop times are really high and imply that the computer you're
running things on is under heavy load. One option for reducing the load of
the navigation stack is to decrease the resolution of the costmap, see the
"resolution" parameter described here:
http://www.ros.org/wiki/costmap_2d#Map_management_parameters.

Another option is to reduce the frequency at which you're controlling your
base. See the controller_frequency parameter described here:
http://www.ros.org/wiki/move_base#Parameters

If you are running other processes on the robot that are computationally
intensive, that may also affect the performance of navigation.

<http://www.ros.org/wiki/move_base#Parameters>One other thing is that you
still should have received a message from move base saying whether it thinks
the goal was achieved or not. Can you do a rostopic echo move_base/status
when the robot stops moving? That should tell us what state move_base thinks
it is in.

Hope this helps,

Eitan

On Thu, Oct 14, 2010 at 7:02 AM, safdar_zaman <safdaraslam at yahoo.com> wrote:

>
> Hi Eitan,
> I checked it again. When I brought up everything and gave the goal then
> robot moved exactly 50cm.and move_base gave warning
> [ WARN] [1287061523.190895504]: Control loop missed its desired rate of
> 20.0000Hz... the loop actually took 0.5249 seconds
> Then again I gave the goal by using simple_navigation_goal node. it again
> moved 50cm forward and move_base gave
> [ WARN] [1287061727.174068853]: Control loop missed its desired rate of
> 20.0000Hz... the loop actually took 0.4975 seconds
>
> I use the same code given on the page
> http://www.ros.org/wiki/navigation/Tutorials/SendingSimpleGoals
>
> any clue please?
>
> regards
>
>
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