I setup a little robot using a roomba and a hokuyo lrf to do the gmapping slam, I did not use amcl at all. You can examine my launch files and config files on github to see what I did.<div><br></div><div><a href="https://github.com/wjwwood/sparcexplorer/blob/master/stacks/sparcexplorer/sparcexplorer_launch/launch/exploration.launch">https://github.com/wjwwood/sparcexplorer/blob/master/stacks/sparcexplorer/sparcexplorer_launch/launch/exploration.launch</a></div>
<div><br></div><div>If I wanted to have gmapping run on my laptop (if say the robot's computer was too slow) I would just comment it out of the exploration launch file and run it manually on my laptop instead.</div><div>
<br></div><div>I am also using Bosch's exploration node so the robot drives itself around exploring the area. (<a href="http://www.ros.org/wiki/exploration">http://www.ros.org/wiki/exploration</a>)</div><div><br></div>
<div>When I was first experimenting with the nav stack I got the same turning in place behavior, it was because the point you selected as a goal is off the map, which is probably the case because you have the map misconfigured or something similar. I think if you get your move_base setup working correctly you'll find this behavior might away.</div>
<div><br></div><div>Hope that helps,</div><div><br clear="all">~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~<br>William Woodall<br>Graduate Software Engineering<br>Auburn University<br><a href="mailto:w@auburn.edu" target="_blank">w@auburn.edu</a><br>
<a href="mailto:wjwwood@gmail.com" target="_blank">wjwwood@gmail.com</a><br>~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~<br>
<br><br><div class="gmail_quote">On Wed, Jan 5, 2011 at 10:37 AM, Steven Bellens <span dir="ltr"><<a href="mailto:steven.bellens@mech.kuleuven.be">steven.bellens@mech.kuleuven.be</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
Hey,<br>
<br>
2011/1/4 Dan Lazewatsky <<a href="mailto:dlaz@cse.wustl.edu">dlaz@cse.wustl.edu</a>>:<br>
<div class="im">> Hi Steven -<br>
> I've noticed similar problems on a few of our robots, mainly when using<br>
> image_transport to send video over wifi. To figure out if wifi is the<br>
> problem, there are two things I've found helpful: before starting any of the<br>
> code running, from your workstation, ping the robot and see if the ping time<br>
> increases. The other thing you can try is watching iwconfig on the robot to<br>
> see if the link quality deteriorates over time.<br>
> Unfortunately, I never really figured out what was going on. Replacing the<br>
> wifi cards in the affected computers seemed to solve the problem.<br>
> -Dan<br>
<br>
</div>I've figured out the problem occurs the moment I start running the<br>
navigation stack. I've been able to build a map using gmapping<br>
(running the gmapping mode on the groundstation), and the ping<br>
responses were constantly okay. When I start up navigation without a<br>
pre-build map (amcl - move base - gmapping), the ping responses<br>
suddenly increase (from 2 - 8 ms to 1000+ ms). When I try the same<br>
with a static map, everything goes well. Am I doing something wrong in<br>
this setup, e.g. can I run amcl and gmapping at the same time? If not,<br>
how should I run the navigation stack without a prebuild map?<br>
<br>
Another problem I face is about the navigation: the holonomic robot<br>
localizes itself OK, but the goals I send with rviz only manage to let<br>
it rotate (there is never a translational velocity command), so the<br>
robot starts rotating, but never gets anywhere close where I want him<br>
to go :). Any ideas on that?<br>
<br>
regards,<br>
<br>
Steven<br>
<br>
regards,<br>
<font color="#888888"><br>
Steven<br>
</font><div><div></div><div class="h5"><br>
><br>
> On Tue, Jan 4, 2011 at 9:15 AM, Steven Bellens<br>
> <<a href="mailto:steven.bellens@mech.kuleuven.be">steven.bellens@mech.kuleuven.be</a>> wrote:<br>
>><br>
>> Hi,<br>
>><br>
>> when using ROS to command a mobile base, I'm running a hokuyo_node and<br>
>> an orocos component node on the mobile base. On my workstation I have<br>
>> the navigation stack running, which gets laserscan data from the<br>
>> hokuyo node and sends velocity commands to the orocos component. I<br>
>> only switched to use the wireless network recently and noticed that,<br>
>> after running the app for some minutes, it looks like some delay<br>
>> starts to build up: when I drive the robot with the teleop_keyboard,<br>
>> after 2 minutes, it starts reacting very slow on my input commands.<br>
>> What's the best way to determine if the Wifi is indeed the problem<br>
>> and, if so, can I run this more optimally with ROS considering this<br>
>> restriction?<br>
>><br>
>> regards,<br>
>><br>
>> Steven<br>
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><br>
><br>
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