Safdar,<div><br></div><div>A couple of things.</div><div><br></div><div>First, in your 'base_local_planner_params.yaml' file, you probably want to set holonomic to false since the Pioneers are non-holonomic robots.</div>
<div><br></div><div>Second, the errors you're seeing from the costmap are telling you that you've got too much latency (consistently around 0.2 seconds) in the transform between the base_link and map frames. You have two options. You can set the 'transform_tolerance' parameter in costmap_common_params.yaml to be something like 0.5. See <a href="http://www.ros.org/wiki/costmap_2d#Coordinate_frame_and_tf_parameters">http://www.ros.org/wiki/costmap_2d#Coordinate_frame_and_tf_parameters</a>. Or, you can reduce the latency in your transform tree. The first option is easier, but means that your robot may be half a second out of date in where it thinks it is in the world, which is not ideal.</div>
<div><br></div><div>Some suggestions for tracking down tf latency:</div><div><br></div><div>* Check the load on the machine that you're running things on. If CPU usage is high, you'll have some problems with tf.</div>
<div>* If you're running anything off the robot, you need to make sure that network latency is low and, depending on what you're running off-board, that the clocks of the machines are synchronized</div><div>* Use the tf_monitor tool and look at the max delay from any transform broadcaster as well as the Hz rate to see where the problem might be coming from</div>
<meta http-equiv="content-type" content="text/html; charset=utf-8"><div><br></div><div>Hope this helps,</div><div><br></div><div>Eitan</div><div><br><div class="gmail_quote">On Wed, Sep 1, 2010 at 4:02 AM, safdar_zaman <span dir="ltr"><<a href="mailto:safdaraslam@yahoo.com">safdaraslam@yahoo.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;"><br>
Dear Eitan,<br>
Thank you so much for the reply.<br>
Ok. in fact I created package poineer_zaman and made in it two launch files<br>
poineer_configuration.launch and move_base.launch quite according to the<br>
instruction given on<br>
<a href="http://www.ros.org/wiki/navigation/Tutorials/RobotSetup" target="_blank">http://www.ros.org/wiki/navigation/Tutorials/RobotSetup</a>.<br>
<br>
poineer_configuration.launch file is :<br>
<launch><br>
<node pkg="sicktoolbox_wrapper" type="sicklms" name="sicklms"<br>
output="screen"><br>
<br>
<br>
</node><br>
<node pkg="ROSARIA" type="myRosAria" name="myRosAria" output="screen"><br>
</node><br>
</launch><br>
============================<br>
move_base.launch file is:<br>
<launch><br>
<master auto="start"/><br>
<!-- Run the map server --><br>
<node name="map_server" pkg="map_server" type="map_server"<br>
args="/home/safdar/map.pgm 0.050000" respawn="false"/><br>
<!--- Run AMCL --><br>
<include<br>
file="/opt/ros/cturtle/stacks/navigation/amcl/examples/amcl_diff.launch" /><br>
<node pkg="move_base" type="move_base" respawn="false" name="move_base"<br>
output="screen"><br>
<rosparam<br>
file="/opt/ros/cturtle/stacks/ros_tutorials/poineer_zaman/costmap_common_params.yaml"<br>
command="load" ns="global_costmap" /><br>
<rosparam<br>
file="/opt/ros/cturtle/stacks/ros_tutorials/poineer_zaman/costmap_common_params.yaml"<br>
command="load" ns="local_costmap" /><br>
<rosparam<br>
file="/opt/ros/cturtle/stacks/ros_tutorials/poineer_zaman/local_costmap_params.yaml"<br>
command="load" /><br>
<rosparam<br>
file="/opt/ros/cturtle/stacks/ros_tutorials/poineer_zaman/global_costmap_params.yaml"<br>
command="load" /><br>
<rosparam<br>
file="/opt/ros/cturtle/stacks/ros_tutorials/poineer_zaman/base_local_planner_params.yaml"<br>
command="load" /><br>
</node><br>
</launch><br>
=======================<br>
costmap_common_params.yaml file is:<br>
obstacle_range: 2.5<br>
raytrace_range: 3.0<br>
footprint: [[0.3, 0.3], [0.3, -0.3], [-0.3, -0.3], [-0.3, 0.3]]<br>
#robot_radius: ir_of_robot<br>
inflation_radius: 0.55<br>
<br>
observation_sources: laser_scan_sensor<br>
<br>
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan,<br>
marking: true, clearing: true}<br>
========================<br>
local_costmap_params.yaml file is:<br>
local_costmap:<br>
global_frame: odom<br>
robot_base_frame: base_link<br>
update_frequency: 5.0<br>
publish_frequency: 2.0<br>
static_map: false<br>
rolling_window: true<br>
width: 6.0<br>
height: 6.0<br>
resolution: 0.05<br>
=======================<br>
global_costmap_params.yaml file is:<br>
global_costmap:<br>
global_frame: /map<br>
robot_base_frame: base_link<br>
update_frequency: 5.0<br>
static_map: true<br>
=======================<br>
base_local_planner_params.yaml file is:<br>
TrajectoryPlannerROS:<br>
max_vel_x: 0.45<br>
min_vel_x: 0.1<br>
max_rotational_vel: 1.0<br>
min_in_place_rotational_vel: 0.4<br>
<br>
acc_lim_th: 3.2<br>
acc_lim_x: 2.5<br>
acc_lim_y: 2.5<br>
<br>
holonomic_robot: true<br>
===========================<br>
<br>
1)using [/poineer_zaman$roslaunch poineer_configuration.launch] I launch<br>
configuration file which activates both myRosAria and sicklms node for<br>
navigation and laser data.<br>
2)using [/poineer_zaman$roslaunch move_base.launch] I launch move_base file<br>
which initially gives following messages:<br>
[ INFO] [1283336071.302542859]: Subscribed to Topics: laser_scan_sensor<br>
[ INFO] [1283336071.310063926]: Requesting the map...<br>
[ INFO] [1283336071.434206370]: Received a 4000 X 4000 map @ 0.050 m/pix<br>
<br>
[ INFO] [1283336071.653358675]: map returned<br>
[ INFO] [1283336071.663591890]: Initializing likelihood field model; this<br>
<div class="im">can take some time on large maps...<br>
</div>[ INFO] [1283336072.081203828]: Done initializing likelihood field model.<br>
[ WARN] [1283336072.174650070]: Message from [/sicklms] has a<br>
<div class="im">non-fully-qualified frame_id [laser]. Resolved locally to [/laser]. This is<br>
will likely not work in multi-robot systems. This message will only print<br>
once.<br>
</div>[ INFO] [1283336072.391845680]: Requesting the map...<br>
<br>
[ INFO] [1283336072.394272735]: Still waiting on map...<br>
<br>
[ INFO] [1283336073.534352063]: Still waiting on map...<br>
<br>
[ INFO] [1283336074.429529868]: Received a 4000 X 4000 map at 0.050000 m/pix<br>
<br>
[ INFO] [1283336081.986813408]: MAP SIZE: 4000, 4000<br>
[ INFO] [1283336082.010527177]: Subscribed to Topics: laser_scan_sensor<br>
[ WARN] [1283336082.198855871]: Costmap2DROS transform timeout. Current<br>
time: 1283336082.1988, global_pose stamp: 1283336081.8780, tolerance: 0.3000<br>
[ WARN] [1283336082.398891757]: Costmap2DROS transform timeout. Current<br>
time: 1283336082.3988, global_pose stamp: 1283336082.0903, tolerance: 0.3000<br>
[ WARN] [1283336082.608407148]: Costmap2DROS transform timeout. Current<br>
time: 1283336082.6083, global_pose stamp: 1283336082.3023, tolerance: 0.3000<br>
[ WARN] [1283336085.398893224]: Costmap2DROS transform timeout. Current<br>
time: 1283336085.3988, global_pose stamp: 1283336085.0781, tolerance: 0.3000<br>
[ WARN] [1283336085.598893089]: Costmap2DROS transform timeout. Current<br>
time: 1283336085.5988, global_pose stamp: 1283336085.2942, tolerance: 0.3000<br>
[ WARN] [1283336085.809877450]: Costmap2DROS transform timeout. Current<br>
time: 1283336085.8098, global_pose stamp: 1283336085.5059, tolerance: 0.3000<br>
[ WARN] [1283336088.598890505]: Costmap2DROS transform timeout. Current<br>
time: 1283336088.5988, global_pose stamp: 1283336088.2775, tolerance: 0.3000<br>
[ WARN] [1283336088.798890300]: Costmap2DROS transform timeout. Current<br>
time: 1283336088.7988, global_pose stamp: 1283336088.4938, tolerance: 0.3000<br>
[ WARN] [1283336089.009264237]: Costmap2DROS transform timeout. Current<br>
time: 1283336089.0091, global_pose stamp: 1283336088.7060, tolerance: 0.3000<br>
[ WARN] [1283336091.798885691]: Costmap2DROS transform timeout. Current<br>
time: 1283336091.7988, global_pose stamp: 1283336091.4826, tolerance: 0.3000<br>
[ WARN] [1283336091.998880305]: Costmap2DROS transform timeout. Current<br>
time: 1283336091.9988, global_pose stamp: 1283336091.6946, tolerance: 0.3000<br>
[ WARN] [1283336092.210576565]: Costmap2DROS transform timeout. Current<br>
time: 1283336092.2105, global_pose stamp: 1283336091.9066, tolerance: 0.3000<br>
[ WARN] [1283336094.998885404]: Costmap2DROS transform timeout. Current<br>
time: 1283336094.9988, global_pose stamp: 1283336094.6814, tolerance: 0.3000<br>
[ WARN] [1283336095.198881223]: Costmap2DROS transform timeout. Current<br>
time: 1283336095.1988, global_pose stamp: 1283336094.8945, tolerance: 0.3000<br>
.<br>
.<br>
.<br>
.<br>
<br>
3) Then I use $rosrun rviz rviz to open rviz. in rviz two square appears one<br>
for the Grid (having lines as rows and columns) and the second square(whose<br>
left upper corner starts from the mid of the Grid square) is light gray<br>
having small visible Map inside it.And all TF appears on the corner of<br>
Grid.I set the pose using 2D Pose Estimate Button and transform frames (TF)<br>
appears at that point where I click in the Map: Also Map comes in the center<br>
of Rviz.<br>
<br>
Each time I set pose in rviz a message appears in move_base.launch file<br>
that:<br>
[INFO] [1283336203.162053078]: Setting Pose (1283336203.162035): 97.108<br>
99.420 0.000<br>
<br>
Well:<br>
For sending goal I use node simple_navigation_goals which I pick as it is<br>
from <a href="http://www.ros.org/wiki/navigation/Tutorials/SendingSimpleGoals" target="_blank">http://www.ros.org/wiki/navigation/Tutorials/SendingSimpleGoals</a><br>
When I run rhis node: It gives message of Sending goal and following message<br>
appears on move_base:<br>
[ Control loop missed its desired rate of 20.000Hz.... the loop actually<br>
took 0.5809 seconds ]<br>
<br>
So this the whole thing I run and use but I dont get Robot moving. I dont<br>
know why.<br>
Kindly advise,<br>
thanks a lot.<br>
safdar<br>
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