Shanker,<div><br></div><div>Have you tried looking at things in rviz to see if the robot sees any obstacles that would prevent it from creating a valid plan.</div><div><br></div><div>This tutorial might be of use: <meta http-equiv="content-type" content="text/html; charset=utf-8"><a href="http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack">http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack</a></div>
<div><br></div><div>Also, the origin of the map should be in meters, not in pixels. Based on the map you attached, this seems like it could be reasonable. Typically, 0.0, 0.0 corresponds to the point on the map where the robot started. You'll need to set the inital pose of the robot in the map for AMCL in order for things to work correctly. Have you been able to verify that localization works independent of the navigation stack by driving the robot around with a joystick?</div>
<div><br></div><div>Hope this helps,</div><div><br></div><div>Eitan</div><div><br><div class="gmail_quote">On Tue, Nov 23, 2010 at 12:11 PM, shankerk <span dir="ltr"><<a href="mailto:shankerkeshavdas@gmail.com">shankerkeshavdas@gmail.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;"><br>
Hi,<br>
<br>
I have been setting up the navigation stack for a Pioneer 3 AT robot and<br>
have run into some issues. I went through the ROS Users page and the<br>
tutorials (of course), and though they helped clear small problems along the<br>
way, I seem to have run into a dead-end. Any help is appreciated!<br>
<br>
I followed this very well written tutorial (<br>
<a href="http://www.ros.org/wiki/navigation/Tutorials/RobotSetup" target="_blank">http://www.ros.org/wiki/navigation/Tutorials/RobotSetup</a> ). I created a map,<br>
then the test is as follows: First, I run my laser, odometry and tf node.<br>
Then I run the "move_base.launch" and then "simple_navigation_goals", as<br>
described in the tutorial.<br>
<br>
Details:<br>
<br>
Running move_base.launch<br>
<br>
shanker@DFKIShankerMBpro:/opt/ros/cturtle/stacks/navigation/2dnav_PioneerDFKI/launchers$<br>
roslaunch move_base.launch<br>
... logging to<br>
/home/shanker/.ros/log/ad23bc38-f6f3-11df-bf25-34159e19aa5c/roslaunch-DFKIShankerMBpro-11496.log<br>
Checking log directory for disk usage. This may take awhile.<br>
Press Ctrl-C to interrupt<br>
Done checking log file disk usage. Usage is <1GB.<br>
<br>
started roslaunch server <a href="http://DFKIShankerMBpro:46805/" target="_blank">http://DFKIShankerMBpro:46805/</a><br>
<br>
SUMMARY<br>
========<br>
<br>
PARAMETERS<br>
 * /move_base/global_costmap/robot_base_frame<br>
 * /amcl/laser_likelihood_max_dist<br>
 * /amcl/laser_max_beams<br>
 * /move_base/local_costmap/laser_scan_sensor/sensor_frame<br>
 * /amcl/gui_publish_rate<br>
 * /amcl/max_particles<br>
 * /amcl/laser_z_max<br>
 * /move_base/local_costmap/footprint<br>
 * /amcl/laser_model_type<br>
 * /amcl/laser_z_hit<br>
 * /move_base/local_costmap/publish_frequency<br>
 * /amcl/odom_model_type<br>
 * /amcl/min_particles<br>
 * /amcl/laser_sigma_hit<br>
 * /amcl/recovery_alpha_fast<br>
 * /move_base/local_costmap/height<br>
 * /move_base/TrajectoryPlannerROS/min_vel_x<br>
 * /move_base/global_costmap/laser_scan_sensor/marking<br>
 * /amcl/recovery_alpha_slow<br>
 * /move_base/TrajectoryPlannerROS/acc_lim_x<br>
 * /amcl/laser_z_short<br>
 * /move_base/global_costmap/transform_tolerance<br>
 * /move_base/global_costmap/update_frequency<br>
 * /move_base/local_costmap/transform_tolerance<br>
 * /move_base/global_costmap/inflation_radius<br>
 * /move_base/local_costmap/obstacle_range<br>
 * /move_base/local_costmap/update_frequency<br>
 * /move_base/global_costmap/laser_scan_sensor/sensor_frame<br>
 * /move_base/global_costmap/raytrace_range<br>
 * /move_base/local_costmap/raytrace_range<br>
 * /move_base/global_costmap/obstacle_range<br>
 * /move_base/local_costmap/inflation_radius<br>
 * /amcl/laser_z_rand<br>
 * /move_base/local_costmap/width<br>
 * /move_base/local_costmap/laser_scan_sensor/clearing<br>
 * /move_base/TrajectoryPlannerROS/acc_lim_y<br>
 * /move_base/global_costmap/footprint<br>
 * /move_base/global_costmap/global_frame<br>
 * /amcl/transform_tolerance<br>
 * /move_base/global_costmap/laser_scan_sensor/topic<br>
 * /move_base/global_costmap/laser_scan_sensor/data_type<br>
 * /move_base/TrajectoryPlannerROS/acc_lim_th<br>
 * /amcl/kld_err<br>
 * /amcl/odom_alpha4<br>
 * /amcl/odom_alpha5<br>
 * /move_base/local_costmap/global_frame<br>
 * /amcl/odom_alpha1<br>
 * /amcl/odom_alpha2<br>
 * /amcl/odom_alpha3<br>
 * /move_base/TrajectoryPlannerROS/max_rotational_vel<br>
 * /move_base/local_costmap/static_map<br>
 * /move_base/local_costmap/resolution<br>
 * /move_base/local_costmap/laser_scan_sensor/data_type<br>
 * /move_base/TrajectoryPlannerROS/holonomic_robot<br>
 * /move_base/local_costmap/laser_scan_sensor/marking<br>
 * /amcl/kld_z<br>
 * /amcl/odom_frame_id<br>
 * /move_base/local_costmap/robot_base_frame<br>
 * /amcl/resample_interval<br>
 * /amcl/update_min_a<br>
 * /move_base/local_costmap/observation_sources<br>
 * /amcl/update_min_d<br>
 * /move_base/global_costmap/observation_sources<br>
 * /move_base/local_costmap/laser_scan_sensor/topic<br>
 * /amcl/laser_lambda_short<br>
 * /move_base/TrajectoryPlannerROS/max_vel_x<br>
 * /move_base/local_costmap/rolling_window<br>
 * /move_base/global_costmap/static_map<br>
 * /move_base/global_costmap/laser_scan_sensor/clearing<br>
 * /move_base/TrajectoryPlannerROS/min_in_place_rotational_vel<br>
<br>
NODES<br>
  /<br>
    map_server (map_server/map_server)<br>
    amcl (amcl/amcl)<br>
    move_base (move_base/move_base)<br>
<br>
ROS_MASTER_URI=<a href="http://DFKIShankerMBpro:11311/" target="_blank">http://DFKIShankerMBpro:11311/</a><br>
<br>
core service [/rosout] found<br>
process[map_server-1]: started with pid [11515]<br>
process[amcl-2]: started with pid [11516]<br>
process[move_base-3]: started with pid [11517]<br>
[ INFO] [1290511268.195739611]: Subscribed to Topics: laser_scan_sensor<br>
[ WARN] [1290511273.204655771]: Waiting on transform from base_link to /map<br>
to become available before running costmap, tf error: Frame id /map does not<br>
exist!<br>
[ WARN] [1290511278.298101570]: Waiting on transform from base_link to /map<br>
to become available before running costmap, tf error: Frame id /map does not<br>
exist!<br>
[ INFO] [1290511280.473965257]: Requesting the map...<br>
<br>
[ INFO] [1290511280.475752738]: Still waiting on map...<br>
<br>
[ INFO] [1290511281.478056618]: Still waiting on map...<br>
<br>
[ INFO] [1290511282.480131699]: Received a 384 X 832 map at 0.100000 m/pix<br>
<br>
[ INFO] [1290511282.648170444]: MAP SIZE: 384, 832<br>
[ INFO] [1290511282.654468446]: Subscribed to Topics: laser_scan_sensor<br>
[ INFO] [1290511282.692034129]: Requesting the map...<br>
<br>
[ INFO] [1290511282.694425450]: Still waiting on map...<br>
<br>
[ WARN] [1290511283.708149491]: You have set map parameters, but also<br>
requested to use the static map. Your parameters will be overwritten by<br>
those given by the map server<br>
[ INFO] [1290511283.708245171]: Received a 384 X 832 map at 0.100000 m/pix<br>
<br>
<br>
Then I run :<br>
 shanker@DFKIShankerMBpro:~/Workspace/maps$ rosrun simple_navigation_goals<br>
simple_navigation_goals<br>
[ INFO] [1290511325.971896256]: Sending goal<br>
[ INFO] [1290511326.423739671]: The base failed to move forward 1 meter for<br>
some reason<br>
<br>
<br>
Then in the other window it continues:<br>
[ WARN] [1290511326.323951650]: Publisher on '/cmd_vel' destroyed<br>
immediately after creation.  Did you forget to store the handle?<br>
[ERROR] [1290511326.423324991]: Aborting because a valid plan could not be<br>
found. Even after executing all recovery behaviors<br>
<br>
Here is my simple_navigation_goals file:<br>
<br>
 20   //we'll send a goal to the robot to move 1 meter forward<br>
 21   goal.target_pose.header.frame_id = "base_link";<br>
 22   goal.target_pose.header.stamp = ros::Time::now();<br>
 23<br>
 24   goal.target_pose.pose.position.x = 0.2;<br>
 25   goal.target_pose.pose.orientation.w = 1.0;<br>
 26<br>
 27   ROS_INFO("Sending goal");<br>
 28   ac.sendGoal(goal);<br>
<br>
The change I've made above is simply to move only 0.2 m ahead, just to test<br>
the program.<br>
<br>
<br>
Here are the topics that I generate:<br>
<br>
robo@pioneer3at:~$ rostopic list<br>
/amcl_pose<br>
/clock<br>
/cmd_vel<br>
/initialpose<br>
/map<br>
/map_metadata<br>
/move_base/NavfnROS/NavfnROS_costmap/inflated_obstacles<br>
/move_base/NavfnROS/NavfnROS_costmap/obstacles<br>
/move_base/NavfnROS/NavfnROS_costmap/robot_footprint<br>
/move_base/NavfnROS/NavfnROS_costmap/unknown_space<br>
/move_base/NavfnROS/plan<br>
/move_base/TrajectoryPlannerROS/global_plan<br>
/move_base/TrajectoryPlannerROS/local_plan<br>
/move_base/cancel<br>
/move_base/current_goal<br>
/move_base/feedback<br>
/move_base/global_costmap/inflated_obstacles<br>
/move_base/global_costmap/obstacles<br>
/move_base/global_costmap/robot_footprint<br>
/move_base/global_costmap/unknown_space<br>
/move_base/goal<br>
/move_base/local_costmap/inflated_obstacles<br>
/move_base/local_costmap/obstacles<br>
/move_base/local_costmap/robot_footprint<br>
/move_base/local_costmap/unknown_space<br>
/move_base/result<br>
/move_base/status<br>
/move_base_simple/goal<br>
/odom<br>
/particlecloud<br>
/reset_time<br>
/rosout<br>
/rosout_agg<br>
/scan<br>
/tf<br>
/tf_message<br>
/time<br>
<br>
Necessary details on individual topics:<br>
<br>
TF<br>
robo@pioneer3at:~$ rostopic echo -c /tf<br>
transforms: [<br>
    header:<br>
      seq: 42319<br>
      stamp: 1290511461348894000<br>
      frame_id: /base_link<br>
    child_frame_id: /laser<br>
    transform:<br>
      translation:<br>
        x: 0.1<br>
        y: 0.0<br>
        z: 0.0<br>
      rotation:<br>
        x: 0.0<br>
        y: 0.0<br>
        z: 0.0<br>
        w: 1.0]<br>
transforms: [<br>
    header:<br>
      seq: 0<br>
      stamp: 1290511461144931000<br>
      frame_id: /map<br>
    child_frame_id: /odom<br>
    transform:<br>
      translation:<br>
        x: -6.05727013824e-06<br>
        y: 0.000999981654571<br>
        z: -0.0<br>
      rotation:<br>
        x: -0.0<br>
        y: -0.0<br>
        z: 0.00302864895962<br>
        w: 0.999995413632]<br>
transforms: [<br>
    header:<br>
      seq: 6347<br>
      stamp: 1290511461326456000<br>
      frame_id: /odom<br>
    child_frame_id: /base_link<br>
    transform:<br>
      translation:<br>
        x: 0.0<br>
        y: -0.001<br>
        z: 0.0<br>
      rotation:<br>
        x: 0.0<br>
        y: -0.0<br>
        z: -0.00302864895962<br>
        w: 0.999995413632]<br>
<br>
Odometry<br>
header:<br>
  seq: 14072<br>
  stamp: 1290511718818769000<br>
  frame_id: odom<br>
child_frame_id:<br>
pose:<br>
  pose:<br>
    position:<br>
      x: 0.0<br>
      y: -0.001<br>
      z: 0.0<br>
    orientation:<br>
      x: -0.0<br>
      y: 0.0<br>
      z: 0.00302864895962<br>
      w: -0.999995413632<br>
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,<br>
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,<br>
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]<br>
twist:<br>
  twist:<br>
    linear:<br>
      x: 0.0<br>
      y: 0.0<br>
      z: 0.0<br>
    angular:<br>
      x: 0.0<br>
      y: 0.0<br>
      z: 0.0<br>
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,<br>
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,<br>
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]<br>
<br>
Parameter files:<br>
<br>
Costmap:<br>
obstacle_range: 2.5<br>
raytrace_range: 3.0<br>
footprint: [[27.5,32.5], [-27.5,32.5], [-27.5,-32.5], [27.5,-32.5]]<br>
observation_sources: laser_scan_sensor<br>
transform_tolerance: 0.3<br>
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan,<br>
marking: true, clearing: true}<br>
inflation_radius: 0.55<br>
<br>
Base local planner:<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>
  acc_lim_th: 3.2<br>
  acc_lim_x: 2.5<br>
  acc_lim_y: 2.5<br>
  holonomic_robot: false<br>
<br>
Local Costmap file:<br>
local_costmap:<br>
  global_frame: odom<br>
  robot_base_frame: base_link<br>
  update_frequency: 1<br>
  publish_frequency: 0<br>
  static_map: true<br>
  rolling_window: true<br>
  width: 6.0<br>
  height: 6.0<br>
  resolution: 0.1<br>
<br>
Global costmap file:<br>
global_costmap:<br>
   global_frame: /map<br>
   robot_base_frame: base_link<br>
   update_frequency: 1.0<br>
   static_map: true<br>
<br>
Diagnostics:<br>
<br>
ROSWTF<br>
<br>
<br>
Before running simple nav goals:<br>
<br>
shanker@DFKIShankerMBpro:/opt/ros/cturtle/stacks/navigation/2dnav_PioneerDFKI/launchers$<br>
roswtf<br>
Loaded plugin tf.tfwtf<br>
Package: 2dnav_PioneerDFKI<br>
================================================================================<br>
Static checks summary:<br>
<br>
Found 1 warning(s).<br>
Warnings are things that may be just fine, but are sometimes at fault<br>
<br>
WARNING The following packages have msg/srv-related cflags exports that are<br>
no longer necessary<br>
        <export><br>
                <cpp cflags="..."<br>
        </export>:<br>
 * tf: -I${prefix}/msg/cpp -I${prefix}/srv/cpp<br>
 * nav_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp<br>
 * sensor_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp<br>
 * costmap_2d: -I${prefix}/msg/cpp<br>
 * actionlib_msgs: -I${prefix}/msg/cpp<br>
 * geometry_msgs: -I${prefix}/msg/cpp<br>
 * visualization_msgs: -I${prefix}/msg/cpp<br>
 * move_base_msgs: -I${prefix}/msg/cpp<br>
 * base_local_planner: -I${prefix}/msg/cpp<br>
 * actionlib: -I${prefix}/msg/cpp<br>
 * navfn: -I${prefix}/srv/cpp<br>
<br>
<br>
================================================================================<br>
Beginning tests of your ROS graph. These may take awhile...<br>
analyzing graph...<br>
... done analyzing graph<br>
running graph rules...<br>
... done running graph rules<br>
running tf checks, this will take a second...<br>
... tf checks complete<br>
<br>
Online checks summary:<br>
<br>
Found 2 warning(s).<br>
Warnings are things that may be just fine, but are sometimes at fault<br>
<br>
WARNING The following node subscriptions are unconnected:<br>
 * /amcl:<br>
   * /initialpose<br>
   * /reset_time<br>
 * /move_base:<br>
   * /move_base_simple/goal<br>
   * /move_base/cancel<br>
   * /reset_time<br>
   * /tf_message<br>
<br>
WARNING The following nodes are unexpectedly connected:<br>
 * /driver->/rosout (/rosout)<br>
 * /move_base->/rosout (/rosout)<br>
 * /sicklms->/rosout (/rosout)<br>
 * /amcl->/rosout (/rosout)<br>
 * /map_server->/rosout (/rosout)<br>
 * /tflaserlink->/rosout (/rosout)<br>
 * /odomesub->/rosout (/rosout)<br>
<br>
After running simple navigation goals:<br>
<br>
shanker@DFKIShankerMBpro:/opt/ros/cturtle/stacks/navigation/2dnav_PioneerDFKI/launchers$<br>
roswtf<br>
Loaded plugin tf.tfwtf<br>
Package: 2dnav_PioneerDFKI<br>
================================================================================<br>
Static checks summary:<br>
<br>
Found 1 warning(s).<br>
Warnings are things that may be just fine, but are sometimes at fault<br>
<br>
WARNING The following packages have msg/srv-related cflags exports that are<br>
no longer necessary<br>
        <export><br>
                <cpp cflags="..."<br>
        </export>:<br>
 * tf: -I${prefix}/msg/cpp -I${prefix}/srv/cpp<br>
 * nav_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp<br>
 * sensor_msgs: -I${prefix}/msg/cpp -I${prefix}/srv/cpp<br>
 * costmap_2d: -I${prefix}/msg/cpp<br>
 * actionlib_msgs: -I${prefix}/msg/cpp<br>
 * geometry_msgs: -I${prefix}/msg/cpp<br>
 * visualization_msgs: -I${prefix}/msg/cpp<br>
 * move_base_msgs: -I${prefix}/msg/cpp<br>
 * base_local_planner: -I${prefix}/msg/cpp<br>
 * actionlib: -I${prefix}/msg/cpp<br>
 * navfn: -I${prefix}/srv/cpp<br>
<br>
<br>
================================================================================<br>
Beginning tests of your ROS graph. These may take awhile...<br>
analyzing graph...<br>
... done analyzing graph<br>
running graph rules...<br>
... done running graph rules<br>
running tf checks, this will take a second...<br>
... tf checks complete<br>
<br>
Online checks summary:<br>
<br>
Found 2 warning(s).<br>
Warnings are things that may be just fine, but are sometimes at fault<br>
<br>
WARNING The following node subscriptions are unconnected:<br>
 * /amcl:<br>
   * /initialpose<br>
   * /reset_time<br>
 * /move_base:<br>
   * /move_base_simple/goal<br>
   * /move_base/cancel<br>
   * /reset_time<br>
   * /tf_message<br>
<br>
WARNING The following nodes are unexpectedly connected:<br>
 * /driver->/rosout (/rosout)<br>
 * /move_base->/simple_navigation_goals (/move_base/result)<br>
 * /move_base->/rosout (/rosout)<br>
 * /sicklms->/rosout (/rosout)<br>
 * /amcl->/rosout (/rosout)<br>
 * /map_server->/rosout (/rosout)<br>
 * /tflaserlink->/rosout (/rosout)<br>
 * /move_base->/simple_navigation_goals (/move_base/feedback)<br>
 * /odomesub->/rosout (/rosout)<br>
<br>
RXGraph<br>
<br>
<a href="http://ros-users.122217.n3.nabble.com/file/n1956004/Beforesimplenav.jpg" target="_blank">http://ros-users.122217.n3.nabble.com/file/n1956004/Beforesimplenav.jpg</a><br>
<br>
The map I used :<br>
<br>
<a href="http://ros-users.122217.n3.nabble.com/file/n1956004/broadcorridor1.jpg" target="_blank">http://ros-users.122217.n3.nabble.com/file/n1956004/broadcorridor1.jpg</a><br>
<br>
broadcorridor1.yaml:<br>
<br>
image: broadcorridor1.pgm<br>
resolution: 0.100000<br>
origin: [-20.000000, -64.800000, 0.000000]<br>
negate: 0<br>
occupied_thresh: 0.65<br>
free_thresh: 0.196<br>
<br>
Questions:<br>
<br>
1. One thing Im not sure is that the "origin" part of the map yaml file says<br>
(-20, -64.8). That's the pixel in the image is it not? And not the odometry<br>
on the robot when I started the map? I'm fairly confident that I started at<br>
odometry (0,0) when I started mapping.<br>
<br>
2. Is this simply a localization issue that it thinks it is at a different<br>
position than I assume? Is there a separate error message if that happens?<br>
<br>
Thanks for your time,<br>
<br>
Best<br>
Shanker<br>
<font color="#888888"><br>
<br>
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