[ros-users] roslaunch awesomeros robot.launch
szokei
istvan_szoke83 at yahoo.com
Wed Feb 23 17:46:35 UTC 2011
Hello ,
I'm trying to execute the code from "Tutorials/stage and navigation stack",
roslaunch awesomeros robot.launch
started roslaunch server http://istvan-System-Product-Name:56169/
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
* /move_base_node/local_costmap/base_scan/raytrace_range
* /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/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/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/base_scan/min_obstacle_height
* /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/TrajectoryPlannerROS/heading_lookahead
* /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/base_scan/obstacle_range
* /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/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
* /amcl/kld_err
* /amcl/resample_interval
* /move_base_node/global_costmap/update_frequency
* /move_base_node/global_costmap/base_scan/obstacle_range
* /move_base_node/local_costmap/mark_threshold
* /move_base_node/local_costmap/base_scan/max_obstacle_height
* /move_base_node/TrajectoryPlannerROS/vtheta_samples
* /move_base_node/local_costmap/robot_base_frame
* /move_base_node/local_costmap/lethal_cost_threshold
* /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
* /move_base_node/global_costmap/base_scan/raytrace_range
* /amcl/update_min_d
* /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/unknown_threshold
* /move_base_node/global_costmap/base_scan/marking
* /move_base_node/NavfnROS/allow_unknown
* /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
* /amcl/initial_pose_x
* /amcl/initial_pose_y
* /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)
/local_costmap/
voxel_grid_throttle (topic_tools/throttle)
ROS_MASTER_URI=http://istvan-System-Product-Name:11311/
core service [/rosout] found
process[voxel_grid_throttle-1]: started with pid [10804]
process[move_base_node-2]: started with pid [10805]
process[map_server-3]: started with pid [10806]
process[stageros-4]: started with pid [10807]
process[amcl-5]: started with pid [10814]
err: /opt/ros/cturtle/stacks/ros_tutorials/awesomeros/world/willow.world:21
: syntax error 2
(/tmp/buildd/ros-cturtle-simulator-stage-1.2.4/debian/ros-cturtle-simulator-stage/opt/ros/cturtle/stacks/simulator_stage/stage/build/Stage-3.2.2-Source/libstage/worldfile.cc
ParseTokenWord)
[ INFO] [1298482640.454591335, 2.700000000]: Subscribed to Topics: base_scan
[ WARN] [1298482645.543905205, 7.800000000]: Waiting on transform from
base_link to /map to become available before running costmap, tf error:
Frame id /base_link does not exist!
Thank you.
--
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