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Eitan,<br>
I copied nav_view.xml from move_base_stage/move_base, changing the
remappings to topics that exist in my system. That along with your two
suggestions seem to have done the trick. There are, however, a few odd
things: <br>
-when I start up nav_view, the map takes a *really* long time to show
up - on the order of 5 minutes<br>
-once the robot gets to its goal, it spins around a lot before stopping<br>
-nav_view seems a bit unstable - ubuntu frequently grays it out
thinking it's crashed<br>
<br>
Thanks for the help,<br>
-Dan<br>
<br>
On 3/31/10 12:24 PM, Eitan Marder-Eppstein wrote:
<blockquote
cite="mid:r2w66ea54571003311024j8537f4c0s39e54b68a90bc360@mail.gmail.com"
type="cite">Dan,<br>
<br>
The Costmap2DROS transform timeouts could be a problem if they don't
taper off after startup. A bunch of warnings right as you start isn't
unexpected, but if they just keep spewing that means there is likely a
timing issue. Do they keep spewing constantly or more or less stop
after a few seconds?<br>
<br>
After looking at your configuration files, it seems that you're missing
a pretty important line in costmap_common_params.yaml. You define a
"laser_scan_sensor," but you never actually tell the navigation stack
to use it. As such, you'll never see obstacles show up in the costmap.
Add the following line to your costmap_common_params.yaml file:<br>
<br>
observation_sources: laser_scan_sensor<br>
<br>
This will tell the navigation stack that you'd like to use the
laser_scan_sensor you defined.<br>
<br>
Hopefully, adding that line should get obstacles to show up for you.
However, even without that, I would've expected the robot to move when
you set a goal, it would just hit stuff. Are you sure that you were
sending a goal on the correct topic? In rviz, you need to make sure to
set the 2D Nav Goal topic to "move_base_simple/goal." I believe that
both rviz and nav_view by default send to the "goal" topic instead. If
you want to use nav_view, you'll have to remap in your launch file. You
can see move_base_stage/move_base/nav_view.xml for an example of this.<br>
<br>
Oh... I think I may know why the robot doesn't move, you've defined
your footprint by only 2 points. The navigation stack supports any
convex polygon for a footprint and, therefore, needs at least three
points to run. It also assumes that the robot is centered at (0, 0). If
you want to define a square robot of the dimensions in your launch file
you'll need to use the following:<br>
<br>
footprint: [[-0.2, -0.2], [-0.2, 0.2], [0.2, 0.2], [0.2, -0.2]]<br>
<br>
You should have received a warning about this, but I just realized that
the costmap uses ROS_ASSERT where it should be using ROS_FATAL. This
means that all those warnings will be compiled out when run in release
mode. I've ticketed fixing this here: <a moz-do-not-send="true"
href="https://code.ros.org/trac/ros-pkg/ticket/3939">https://code.ros.org/trac/ros-pkg/ticket/3939</a><br>
<br>
Hope this helps and let me know how things go... we'll figure it out
yet,<br>
<br>
Eitan<br>
<br>
<div class="gmail_quote">On Wed, Mar 31, 2010 at 8:13 AM, Dan
Lazewatsky <span dir="ltr"><<a moz-do-not-send="true"
href="mailto:lazewatskyd@cse.wustl.edu">lazewatskyd@cse.wustl.edu</a>></span>
wrote:<br>
<blockquote class="gmail_quote"
style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
<div bgcolor="#ffffff" text="#000000">
<div class="im"><br>
On 3/30/10 7:55 PM, Eitan Marder-Eppstein wrote:
<blockquote type="cite">Hey Dan,<br>
<br>
A few questions for ya to help figure out what's going on:<br>
<br>
1) Have you tried using the rxconsole tool to see if any useful
information is being output from the system? If so, did you see
anything that seemed to be complaining or giving warnings?<br>
</blockquote>
</div>
rxconsole doesn't show anything that seems too concerning. The worst is
a bunch of<br>
Costmap2DROS transform timeout. Current time: ...
<div class="im"><br>
<blockquote type="cite"><br>
2) What launch files are you running on the erratic? Are they the ones
in the 2dnav_erratic package? Or different ones that you created? We
used to have an erratic in-house, but we don't anymore and its been
awhile since the 2dnav_erratic package has been tested. If you're
running with your own configuration, could you post the files so I can
take a look at them?<br>
</blockquote>
</div>
I've attached the launch file and config files I'm using. The config
files were all setup according to this:
<a moz-do-not-send="true"
href="http://www.ros.org/wiki/navigation/Tutorials/RobotSetup"
target="_blank">http://www.ros.org/wiki/navigation/Tutorials/RobotSetup</a>
<div class="im">
<blockquote type="cite"><br>
3) Do you see any obstacles in nav_view? On second thought, rviz is a
more powerful debugging tool for this kind of stuff. Have you tried
using rviz to get useful debugging information (whether obstacles show
up, a plan is created, etc)? You can find a tutorial on using rviz with
the navigation stack here: <a moz-do-not-send="true"
href="http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack"
target="_blank">http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack</a><br>
</blockquote>
</div>
nav_view and rviz don't show any obstacles, plan, or really anything
but the map. If I'm really lucky, rviz will show the amcl particle
cloud.
<div>
<div class="h5"><br>
<blockquote type="cite"><br>
<br>
Ok... take a shot at answering these and we'll see if that gives a bit
more insight into what's going on.<br>
<br>
Hope all is well,<br>
<br>
Eitan<br>
<br>
<div class="gmail_quote">On Tue, Mar 30, 2010 at 3:57 PM, Dan
Lazewatsky <span dir="ltr"><<a moz-do-not-send="true"
href="mailto:lazewatskyd@cse.wustl.edu" target="_blank">lazewatskyd@cse.wustl.edu</a>></span>
wrote:<br>
<blockquote class="gmail_quote"
style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
<div bgcolor="#ffffff" text="#000000">Thanks for the response
Eitan - <br>
I've created a map, and am trying to get an erratic to navigate in said
map using nav_view. I set up the robot according the the nav robot
setup tutorial, and when I run nav view I can see the map and set the
robot's initial pose, but trying to set the goal doesn't seem to do
anything. I get a printout from nav view saying "setting goal:
Position(...)" but that's all.<br>
<font color="#888888"><br>
-Dan</font>
<div>
<div><br>
<br>
On 3/30/10 4:31 PM, Eitan Marder-Eppstein wrote:
<blockquote type="cite">Dan,<br>
<br>
The wavefront package has fallen into a bit of disrepair as we favor
our move_base package for autonomous navigation. If you're looking to
run some autonomous navigation demos, check out the move_base_stage
package instead of the 2dnav_stage package. The 2dnav_stage package
will probably be removed in the near future to save people the
confusion.<br>
<br>
Hope this helps,<br>
<br>
Eitan<br>
<br>
<div class="gmail_quote">On Tue, Mar 30, 2010 at 12:07 PM,
Dan
Lazewatsky <span dir="ltr"><<a moz-do-not-send="true"
href="mailto:lazewatskyd@cse.wustl.edu" target="_blank">lazewatskyd@cse.wustl.edu</a>></span>
wrote:<br>
<blockquote class="gmail_quote"
style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
<div bgcolor="#ffffff" text="#000000">Hi all - I'm having
some
trouble using wavefront. When I try to start
it I get this:<br>
<span
style="border-collapse: separate; color: rgb(0, 0, 0); font-family: Times; font-style: normal; font-variant: normal; font-weight: normal; letter-spacing: normal; line-height: normal; text-indent: 0px; text-transform: none; white-space: normal; word-spacing: 0px; font-size: medium;"><span
style="font-family: Georgia;">
<pre
style="font-family: 'Bitstream Vera Sans Mono','Courier New',Monaco,monospace; font-size: 14px;">robotics@tears$ rosrun wavefront wavefront
terminate called after throwing an instance of 'ros::InvalidNameException'
what(): Using ~ names with NodeHandle methods is not allowed. If you want to use private names with the NodeHandle interface, construct a NodeHandle using a private name as its namespace. e.g. ros::NodeHandle nh("~"); nh.getParam("my_private_name"); (name = [~dist_eps])
/home/robotics/ros/ros/bin/rosrun: line 35: 15562 Aborted $exepath "$@"</pre>
</span></span>Granted, I don't know what the right way to
use
wavefront
since the documentation is a bit spotty.<br>
<br>
Any ideas would be appreciated.<br>
<br>
Thanks,<br>
-Dan<br>
</div>
<br>
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