[ros-users] how to begin studying slam only base on vision information?

Jolin Jia pplin86 at gmail.com
Thu Oct 28 01:08:26 UTC 2010 

Hi Eitan:

I found it's really  helpful for me. But I have some problem with it. First
I found that when I type the command "roslaunch navigation_stage
move_base_amcl_10cm.launch" ,it gets some errors as following:
=============================error================================
jolin at ubuntu:~$ roslaunch navigation_stage move_base_amcl_10cm.launch ...
logging to
/home/jolin/.ros/log/bd60ed90-e22c-11df-a2d2-18f46a15a5f5/roslaunch-ubuntu-3560.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:36825/

SUMMARY
========

PARAMETERS
 * /use_sim_time
 * /move_base_node/global_costmap/observation_sources
 * /amcl/gui_publish_rate
 * /move_base_node/local_costmap/origin_y
 * /move_base_node/local_costmap/origin_x
 * /move_base_node/local_costmap/update_frequency
 * /move_base_node/local_costmap/origin_z
 * /move_base_node/global_costmap/base_scan/max_obstacle_height
 * /move_base_node/global_costmap/origin_z
 * /move_base_node/local_costmap/base_scan/marking
 * /move_base_node/local_costmap/observation_sources
 * /move_base_node/TrajectoryPlannerROS/vx_samples
 * /amcl/recovery_alpha_slow
 * /move_base_node/local_costmap/base_scan/clearing
 * /move_base_node/global_costmap/mark_threshold
 * /amcl/laser_z_short
 * /move_base_node/global_costmap/obstacle_range
 * /move_base_node/local_costmap/max_obstacle_height
 * /move_base_node/TrajectoryPlannerROS/sim_time
 * /move_base_node/TrajectoryPlannerROS/max_vel_x
 * /amcl/laser_z_max
 * /amcl/laser_z_rand
 * /move_base_node/TrajectoryPlannerROS/acc_lim_th
 * /move_base_node/global_costmap/base_scan/observation_persistence
 * /move_base_node/local_costmap/inflation_radius
 * /move_base_node/global_costmap/map_type
 * /move_base_node/TrajectoryPlannerROS/vtheta_samples
 * /move_base_node/TrajectoryPlannerROS/acc_lim_y
 * /move_base_node/TrajectoryPlannerROS/acc_lim_x
 * /move_base_node/global_costmap/static_map
 * /move_base_node/global_costmap/base_scan/data_type
 * /move_base_node/local_costmap/unknown_threshold
 * /move_base_node/global_costmap/footprint
 * /amcl/laser_lambda_short
 * /move_base_node/TrajectoryPlannerROS/sim_granularity
 * /move_base_node/local_costmap/base_scan/observation_persistence
 * /amcl/laser_max_beams
 * /move_base_node/local_costmap/z_resolution
 * /move_base_node/TrajectoryPlannerROS/min_vel_x
 * /move_base_node/local_costmap/map_type
 * /move_base_node/global_costmap/lethal_cost_threshold
 * /move_base_node/local_costmap/lethal_cost_threshold
 * /amcl/odom_model_type
 * /amcl/laser_sigma_hit
 * /amcl/recovery_alpha_fast
 * /move_base_node/global_costmap/inflation_radius
 * /move_base_node/global_costmap/z_voxels
 * /move_base_node/local_costmap/base_scan/data_type
 * /move_base_node/local_costmap/transform_tolerance
 * /move_base_node/global_costmap/robot_base_frame
 * /move_base_node/global_costmap/transform_tolerance
 * /move_base_node/local_costmap/global_frame
 * /move_base_node/local_costmap/rolling_window
 * /move_base_node/TrajectoryPlannerROS/dwa
 * /amcl/odom_alpha5
 * /amcl/odom_alpha1
 * /amcl/odom_alpha2
 * /amcl/odom_alpha3
 * /amcl/odom_alpha4
 * /move_base_node/local_costmap/width
 * /stageros/base_watchdog_timeout
 * /move_base_node/global_costmap/base_scan/clearing
 * /move_base_node/local_costmap/publish_frequency
 * /amcl/max_particles
 * /move_base_node/local_costmap/height
 * /move_base_node/local_costmap/static_map
 * /move_base_node/global_costmap/cost_scaling_factor
 * /move_base_node/TrajectoryPlannerROS/yaw_goal_tolerance
 * /amcl/min_particles
 * /move_base_node/global_costmap/global_frame
 * /move_base_node/TrajectoryPlannerROS/y_vels
 * /move_base_node/controller_frequency
 * /move_base_node/local_costmap/cost_scaling_factor
 * /move_base_node/TrajectoryPlannerROS/max_rotational_vel
 * /amcl/laser_model_type
 * /move_base_node/global_costmap/publish_frequency
 * /move_base_node/TrajectoryPlannerROS/goal_distance_bias
 * /amcl/transform_tolerance
 * /move_base_node/global_costmap/raytrace_range
 * /amcl/kld_err
 * /amcl/resample_interval
 * /move_base_node/global_costmap/update_frequency
 * /move_base_node/local_costmap/mark_threshold
 * /move_base_node/local_costmap/base_scan/max_obstacle_height
 * /move_base_node/local_costmap/obstacle_range
 * /move_base_node/local_costmap/robot_base_frame
 * /move_base_node/TrajectoryPlannerROS/heading_lookahead
 * /move_base_node/global_costmap/z_resolution
 * /move_base_node/TrajectoryPlannerROS/holonomic_robot
 * /move_base_node/local_costmap/footprint
 * /move_base_node/global_costmap/rolling_window
 * /amcl/laser_z_hit
 * /move_base_node/global_costmap/base_scan/expected_update_rate
 * /amcl/update_min_d
 * /move_base_node/local_costmap/raytrace_range
 * /move_base_node/TrajectoryPlannerROS/min_in_place_rotational_vel
 * /move_base_node/global_costmap/unknown_threshold
 * /move_base_node/TrajectoryPlannerROS/path_distance_bias
 * /move_base_node/global_costmap/max_obstacle_height
 * /amcl/odom_frame_id
 * /move_base_node/local_costmap/base_scan/min_obstacle_height
 * /move_base_node/global_costmap/base_scan/marking
 * /move_base_node/TrajectoryPlannerROS/prune_plan
 * /move_base_node/global_costmap/base_scan/min_obstacle_height
 * /move_base_node/local_costmap/z_voxels
 * /move_base_node/local_costmap/resolution
 * /move_base_node/footprint_padding
 * /move_base_node/TrajectoryPlannerROS/backup_vel
 * /move_base_node/TrajectoryPlannerROS/oscillation_reset_dist
 * /amcl/kld_z
 * /move_base_node/global_costmap/footprint_padding
 * /move_base_node/local_costmap/base_scan/expected_update_rate
 * /move_base_node/local_costmap/footprint_padding
 * /amcl/update_min_a
 * /amcl/laser_likelihood_max_dist
 * /move_base_node/local_costmap/publish_voxel_map
 * /move_base_node/TrajectoryPlannerROS/occdist_scale
 * /move_base_node/TrajectoryPlannerROS/xy_goal_tolerance

NODES
  /
    move_base_node (move_base/move_base)
    map_server (map_server/map_server)
    stageros (stage/stageros)
    amcl (amcl/amcl)
    nav_view (nav_view/nav_view)

starting new master (master configured for auto start)
process[master]: started with pid [3573]
ROS_MASTER_URI=http://ubuntu:11311/

setting /run_id to bd60ed90-e22c-11df-a2d2-18f46a15a5f5
process[rosout-1]: started with pid [3586]
started core service [/rosout]
process[move_base_node-2]: started with pid [3600]
process[map_server-3]: started with pid [3601]
process[stageros-4]: started with pid [3602]
process[amcl-5]: started with pid [3608]
process[nav_view-6]: started with pid [3617]
[ INFO] [1288226763.463708926]: Subscribed to Topics: base_scan
[stageros-4] process has died [pid 3602, exit code -11].
log files:
/home/jolin/.ros/log/bd60ed90-e22c-11df-a2d2-18f46a15a5f5/stageros-4*.log
=============================================end of
error=======================================================

It seems that stageros has some problems? And when I type the command
"rosrun stage stageros
/opt/ros/cturtle/stacks/navigation_tutorials/navigation_stage/stage_config/worlds/willow-pr2.world",
it gets the following error:
"/opt/ros/cturtle/ros/bin/rosrun: line 35:  4695 segment fault
$exepath "$@"". What is happened? How can I solve this problem?

The second question is that I have some puzzles with localization on the pr2
robot. When I type "roslaunch navigation_stage move_base_amcl_10cm.launch",
I only get the Nav_view window, and it just have a map. What should I do to
move the robot because when I type the "move" menu in the nav_view window,
nothing happened.

Thanks in advance. Looking forward to your replying!

jolin

On 2010-10-27 17:59, Eitan Marder-Eppstein wrote:
> Joline
>
> To see an example of a robot running localization in simulation, you might
> find it helpful to check out the navigation_stage package which includes
> launch files for running amcl in the stage simulator. See
> http://www.ros.org/wiki/navigation_stage. Any of the launch files with
> "amcl" in the name should bring localization up.
>
> Hope this helps,
>
> Eitan
>
> On Wed, Oct 27, 2010 at 7:57 AM, Jolin Jia <pplin86 at gmail.com> wrote:
>
> >
> > jolin
> > TJ University
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> >
> _______________________________________________
> ros-users mailing list
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