[ros-users] Run a simple navigation demo (static map+amcl) on an out-of-the-box Groovy-based PR2

[William Woodall]

Hi Luc,

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we ask our users to ask questions like this on answers.ros.org, see:

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Please post your question on answers.ros.org and wait for people to have a
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Thanks,

On Mon, Oct 13, 2014 at 2:41 PM, Luc Fabresse <luc.fabresse at gmail.com>
wrote:

> Hi all,
>
> I try to execute a standard navigation demo on PR2 using a map already
> built with gmapping and amcl.
>
> In short: if someone can point me to *working* launch files it would be
> perfect.
>
> ****************
> In details, What I do:
>
> 1) on the c1 machine of the PR2:
>
> roslaunch pr2_fcfm nav.launch
>
> ------ nav.launch -----
> <launch>
>   <node name="robot_state_publisher" pkg="robot_state_publisher"
> type="state_publisher"/>
>   <node name="map_server" pkg="map_server" type="map_server" args="$(find
> pr2_fcfm)/maps/lptvMapCleaned.yaml"/>
>   <include file="$(find pr2_navigation_global)/amcl_node.xml" />
>   <include file="$(find pr2_navigation_global)/move_base.xml" />
> </launch>
> ----------------------------
>
> 2) Then, on a remote machine, I launch rviz like that:
>
> roslaunch pr2_navigation_global rviz/rviz_move_base.launch
>
> *********
> But my problems are:
>
> A) the floor_scan in rviz display the /base_scan_throttled topic by
> default and I cannot see the white dots. If I replace it by /base_scan, I
> then can see the white dots but it sometimes rviz sporadically display a tf
> error because /base_scan cannot be transformed to /map. So it does not
> fully work... Any idea?
>
> B) If I set a pose estimation and then a goal in Rviz, I can see the
> computed displayed but the robot does not move. I tried to directly publish
> a move command:
>
> rostopic pub /navigation/cmd_vel geometry_msgs/Twist ...
>
> But the robot still does not move.
> And yes, the default move_base launch file seems to remap  /cmd_vel to
> /navigation/cmd_vel
>
> Any idea?
>
> #Luc
>
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>


-- 
William Woodall
ROS Development Team
william at osrfoundation.org
http://wjwwood.io/
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