Hi all,<div>Thanks for the help. I checked and compared the costmap parameters file, and in our case the laser_marking for base_scan was set to false. Once that was set to true, we could see the inflated obstacles and the path planning also worked.</div>
<div>Now, the tf tree for the simulation is as follows:</div><div><br></div><div> / --> /base_laser</div><div> /</div>
<div>/map -----> /odom -------> /base_link ----- /------> /base_caster & /base_top<br> \</div><div> \</div>
<div> \ --> /base_footprint</div><div><br></div><div><br></div><div>The next part for us is to run the robot in the real world, but we don't have a predefined map. We just want to give the robot a goal of 1m forward using simple_navigation_goals in an unknown environment. We are using the robot's actual odometry information.</div>
<div>So my question is this: in the absence of a /map frame, will /odom be the global frame for both global and local costmap? Or will it shift down the heirarchy, for example now we have /map and /odom as global frames for global and local costmap respectively, will it be /odom and /base_link then??</div>
<div><br></div><div><br></div><div><br></div><div><br><div class="gmail_quote">On Sat, May 8, 2010 at 12:57 PM, Anh Tran <span dir="ltr"><<a href="mailto:anhxuan.tran@gmail.com">anhxuan.tran@gmail.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">Hello Hitesh,<div><br></div><div>Let me elaborate on Anton's reply.</div><div><br></div><div>1. You will need several packages from our ua-ros-pkg repository. It might be easiest to checkout all packages from here (see our wiki pages from same link for instructions): <a href="http://code.google.com/p/ua-ros-pkg/" target="_blank">http://code.google.com/p/ua-ros-pkg/</a></div>
<div><br></div><div><a href="http://code.google.com/p/ua-ros-pkg/" target="_blank"></a>2. Checkout the wubble_navigation package for a demo: <a href="http://code.google.com/p/ua-cs665-ros-pkg/source/browse/#svn/trunk/ua_navigation/wubble_navigation" target="_blank">http://code.google.com/p/ua-cs665-ros-pkg/source/browse/#svn/trunk/ua_navigation/wubble_navigation</a></div>
<div><br></div><div><a href="http://code.google.com/p/ua-cs665-ros-pkg/source/browse/#svn/trunk/ua_navigation/wubble_navigation" target="_blank"></a>3. Rosmake wubble_navigation and launch the demos in that package.</div>
<div><br></div><div>
<br></div><div>Checkout this youtube video to see how 2dnav works with our current erratic model: <a href="http://www.youtube.com/watch?v=aA0gOd2P5jk" target="_blank">http://www.youtube.com/watch?v=aA0gOd2P5jk</a><br clear="all">
<br></div>
<div><br></div><div><br>Cheers,<br><font color="#888888">Anh Tran</font><div><div></div><div class="h5"><br>
<br><br><div class="gmail_quote">On Fri, May 7, 2010 at 1:20 PM, Antons Rebguns <span dir="ltr"><<a href="mailto:arebgun@gmail.com" target="_blank">arebgun@gmail.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
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<br>
Hi Hitesh,<br>
<br>
We spent some time getting the nav stack working for our erratic robot both in simulation and real robot. Maybe you can<br>
take a look at this package and see if that works for you.<br>
<br>
You would need ua_navigation stack from <a href="http://code.google.com/p/ua-cs665-ros-pkg/" target="_blank">http://code.google.com/p/ua-cs665-ros-pkg/</a> (specifically look at<br>
<a href="http://code.google.com/p/ua-cs665-ros-pkg/source/browse/trunk/ua_navigation/wubble_navigation/launch/2dnav_wg.launch" target="_blank">http://code.google.com/p/ua-cs665-ros-pkg/source/browse/trunk/ua_navigation/wubble_navigation/launch/2dnav_wg.launch</a><br>
launch file) and stuff from <a href="http://code.google.com/p/ua-ros-pkg/" target="_blank">http://code.google.com/p/ua-ros-pkg/</a>.<br>
<br>
There are instruction on the wiki how to download and compile everything, but let me know if you have any questions.<br>
<br>
Anton<br>
<div><div></div><div><br>
On 05/06/2010 05:08 AM, hitesh dhiman wrote:<br>
> Hi all,<br>
> I'm trying to run the erratic gazebo path planning, using the willow<br>
> garage map provided.<br>
> I'm using all custom parameters. However, the path planning seems to be<br>
> faltering. It is actually planning a path through the wall, I've also<br>
> attached a picture showing the path planning.<br>
> Also, the inflated costmap is not being displayed, although the messages<br>
> are being published and the rviz status says ok.<br>
> Any idea what might be wrong?<br>
><br>
><br>
> --<br>
> Regards,<br>
> Hitesh Dhiman<br>
> Electrical Engineering<br>
> National University of Singapore<br>
><br>
><br>
><br>
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<br></blockquote></div><br><br clear="all"><br>-- <br>Regards,<br>Hitesh Dhiman<br>Electrical Engineering<br>National University of Singapore<br>
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