[ros-users] sensor origin
safdar_zaman
safdaraslam at yahoo.com
Wed Sep 1 11:02:04 UTC 2010
Dear Eitan,
Thank you so much for the reply.
Ok. in fact I created package poineer_zaman and made in it two launch files
poineer_configuration.launch and move_base.launch quite according to the
instruction given on
http://www.ros.org/wiki/navigation/Tutorials/RobotSetup.
poineer_configuration.launch file is :
<launch>
<node pkg="sicktoolbox_wrapper" type="sicklms" name="sicklms"
output="screen">
</node>
<node pkg="ROSARIA" type="myRosAria" name="myRosAria" output="screen">
</node>
</launch>
============================
move_base.launch file is:
<launch>
<master auto="start"/>
<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server"
args="/home/safdar/map.pgm 0.050000" respawn="false"/>
<!--- Run AMCL -->
<include
file="/opt/ros/cturtle/stacks/navigation/amcl/examples/amcl_diff.launch" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base"
output="screen">
<rosparam
file="/opt/ros/cturtle/stacks/ros_tutorials/poineer_zaman/costmap_common_params.yaml"
command="load" ns="global_costmap" />
<rosparam
file="/opt/ros/cturtle/stacks/ros_tutorials/poineer_zaman/costmap_common_params.yaml"
command="load" ns="local_costmap" />
<rosparam
file="/opt/ros/cturtle/stacks/ros_tutorials/poineer_zaman/local_costmap_params.yaml"
command="load" />
<rosparam
file="/opt/ros/cturtle/stacks/ros_tutorials/poineer_zaman/global_costmap_params.yaml"
command="load" />
<rosparam
file="/opt/ros/cturtle/stacks/ros_tutorials/poineer_zaman/base_local_planner_params.yaml"
command="load" />
</node>
</launch>
=======================
costmap_common_params.yaml file is:
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.3, 0.3], [0.3, -0.3], [-0.3, -0.3], [-0.3, 0.3]]
#robot_radius: ir_of_robot
inflation_radius: 0.55
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan,
marking: true, clearing: true}
========================
local_costmap_params.yaml file is:
local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
=======================
global_costmap_params.yaml file is:
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
static_map: true
=======================
base_local_planner_params.yaml file is:
TrajectoryPlannerROS:
max_vel_x: 0.45
min_vel_x: 0.1
max_rotational_vel: 1.0
min_in_place_rotational_vel: 0.4
acc_lim_th: 3.2
acc_lim_x: 2.5
acc_lim_y: 2.5
holonomic_robot: true
===========================
1)using [/poineer_zaman$roslaunch poineer_configuration.launch] I launch
configuration file which activates both myRosAria and sicklms node for
navigation and laser data.
2)using [/poineer_zaman$roslaunch move_base.launch] I launch move_base file
which initially gives following messages:
[ INFO] [1283336071.302542859]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1283336071.310063926]: Requesting the map...
[ INFO] [1283336071.434206370]: Received a 4000 X 4000 map @ 0.050 m/pix
[ INFO] [1283336071.653358675]: map returned
[ INFO] [1283336071.663591890]: Initializing likelihood field model; this
can take some time on large maps...
[ INFO] [1283336072.081203828]: Done initializing likelihood field model.
[ WARN] [1283336072.174650070]: Message from [/sicklms] has a
non-fully-qualified frame_id [laser]. Resolved locally to [/laser]. This is
will likely not work in multi-robot systems. This message will only print
once.
[ INFO] [1283336072.391845680]: Requesting the map...
[ INFO] [1283336072.394272735]: Still waiting on map...
[ INFO] [1283336073.534352063]: Still waiting on map...
[ INFO] [1283336074.429529868]: Received a 4000 X 4000 map at 0.050000 m/pix
[ INFO] [1283336081.986813408]: MAP SIZE: 4000, 4000
[ INFO] [1283336082.010527177]: Subscribed to Topics: laser_scan_sensor
[ WARN] [1283336082.198855871]: Costmap2DROS transform timeout. Current
time: 1283336082.1988, global_pose stamp: 1283336081.8780, tolerance: 0.3000
[ WARN] [1283336082.398891757]: Costmap2DROS transform timeout. Current
time: 1283336082.3988, global_pose stamp: 1283336082.0903, tolerance: 0.3000
[ WARN] [1283336082.608407148]: Costmap2DROS transform timeout. Current
time: 1283336082.6083, global_pose stamp: 1283336082.3023, tolerance: 0.3000
[ WARN] [1283336085.398893224]: Costmap2DROS transform timeout. Current
time: 1283336085.3988, global_pose stamp: 1283336085.0781, tolerance: 0.3000
[ WARN] [1283336085.598893089]: Costmap2DROS transform timeout. Current
time: 1283336085.5988, global_pose stamp: 1283336085.2942, tolerance: 0.3000
[ WARN] [1283336085.809877450]: Costmap2DROS transform timeout. Current
time: 1283336085.8098, global_pose stamp: 1283336085.5059, tolerance: 0.3000
[ WARN] [1283336088.598890505]: Costmap2DROS transform timeout. Current
time: 1283336088.5988, global_pose stamp: 1283336088.2775, tolerance: 0.3000
[ WARN] [1283336088.798890300]: Costmap2DROS transform timeout. Current
time: 1283336088.7988, global_pose stamp: 1283336088.4938, tolerance: 0.3000
[ WARN] [1283336089.009264237]: Costmap2DROS transform timeout. Current
time: 1283336089.0091, global_pose stamp: 1283336088.7060, tolerance: 0.3000
[ WARN] [1283336091.798885691]: Costmap2DROS transform timeout. Current
time: 1283336091.7988, global_pose stamp: 1283336091.4826, tolerance: 0.3000
[ WARN] [1283336091.998880305]: Costmap2DROS transform timeout. Current
time: 1283336091.9988, global_pose stamp: 1283336091.6946, tolerance: 0.3000
[ WARN] [1283336092.210576565]: Costmap2DROS transform timeout. Current
time: 1283336092.2105, global_pose stamp: 1283336091.9066, tolerance: 0.3000
[ WARN] [1283336094.998885404]: Costmap2DROS transform timeout. Current
time: 1283336094.9988, global_pose stamp: 1283336094.6814, tolerance: 0.3000
[ WARN] [1283336095.198881223]: Costmap2DROS transform timeout. Current
time: 1283336095.1988, global_pose stamp: 1283336094.8945, tolerance: 0.3000
.
.
.
.
3) Then I use $rosrun rviz rviz to open rviz. in rviz two square appears one
for the Grid (having lines as rows and columns) and the second square(whose
left upper corner starts from the mid of the Grid square) is light gray
having small visible Map inside it.And all TF appears on the corner of
Grid.I set the pose using 2D Pose Estimate Button and transform frames (TF)
appears at that point where I click in the Map: Also Map comes in the center
of Rviz.
Each time I set pose in rviz a message appears in move_base.launch file
that:
[INFO] [1283336203.162053078]: Setting Pose (1283336203.162035): 97.108
99.420 0.000
Well:
For sending goal I use node simple_navigation_goals which I pick as it is
from http://www.ros.org/wiki/navigation/Tutorials/SendingSimpleGoals
When I run rhis node: It gives message of Sending goal and following message
appears on move_base:
[ Control loop missed its desired rate of 20.000Hz.... the loop actually
took 0.5809 seconds ]
So this the whole thing I run and use but I dont get Robot moving. I dont
know why.
Kindly advise,
thanks a lot.
safdar
--
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