On Fri, Jan 28, 2011 at 3:58 PM, airthimble <span dir="ltr"><<a href="mailto:joseph.st.amand@mines.sdsmt.edu">joseph.st.amand@mines.sdsmt.edu</a>></span> wrote:<br><div class="gmail_quote"><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
<br>
Hello there,<br>
<br>
I am trying to get the navigation stack and gmapping to work together, I get<br>
a couple of errors that I have spent many hours on that I cannot seem to<br>
solve. I have not used ros extensively but have been able to drive the robot<br>
around using my computer and create maps with the gmapping package.<br>
<br>
This is the first error:<br>
[ERROR] [1296247552.958952582]: Client [/move_base] wants topic /initialpose<br>
to have datatype/md5sum<br>
[sensor_msgs/PointCloud/d8e9c3f5afbdd8a130fd1d2763945fca], but our version<br>
has<br>
[geometry_msgs/PoseWithCovarianceStamped/953b798c0f514ff060a53a3498ce6246].<br>
Dropping connection.<br></blockquote><div><br></div><div>Pretty sure this is due to rviz publishing a geometry_msgs/PoseWithCovarianceStamped on the /initialpose topic, while move_base is subscribing to that topic and expecting a sensor_msgs/PointCloud. What were you trying to achieve by feeding that in as an observation source to your costmaps?</div>
<div><br></div><div>- Eric</div><div> </div><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
<br>
The second error is:<br>
[ WARN] [1296247614.045447300]: The origin for the sensor at (0.11, -0.01,<br>
0.13) is out of map bounds. So, the costmap cannot raytrace for it.<br>
<br>
I am able to see gmapping start creating a map in rviz, however, when I give<br>
rviz a navigation goal the robot rotates a few degrees and the map bounds<br>
error appears.<br>
<br>
I have attached many of the files that I use for you to view.<br>
<br>
Any suggestions on how to fix this would be greatly appreciated.<br>
<br>
Thanks!<br>
<a href="http://ros-users.122217.n3.nabble.com/file/n2368030/move_base.launch" target="_blank">http://ros-users.122217.n3.nabble.com/file/n2368030/move_base.launch</a><br>
move_base.launch<br>
<a href="http://ros-users.122217.n3.nabble.com/file/n2368030/aten_configuration.launch" target="_blank">http://ros-users.122217.n3.nabble.com/file/n2368030/aten_configuration.launch</a><br>
aten_configuration.launch<br>
<a href="http://ros-users.122217.n3.nabble.com/file/n2368030/local_costmap_params.yaml" target="_blank">http://ros-users.122217.n3.nabble.com/file/n2368030/local_costmap_params.yaml</a><br>
local_costmap_params.yaml<br>
<a href="http://ros-users.122217.n3.nabble.com/file/n2368030/global_costmap_params.yaml" target="_blank">http://ros-users.122217.n3.nabble.com/file/n2368030/global_costmap_params.yaml</a><br>
global_costmap_params.yaml<br>
<a href="http://ros-users.122217.n3.nabble.com/file/n2368030/costmap_common_params.yaml" target="_blank">http://ros-users.122217.n3.nabble.com/file/n2368030/costmap_common_params.yaml</a><br>
costmap_common_params.yaml<br>
<a href="http://ros-users.122217.n3.nabble.com/file/n2368030/base_local_planner_params.yaml" target="_blank">http://ros-users.122217.n3.nabble.com/file/n2368030/base_local_planner_params.yaml</a><br>
base_local_planner_params.yaml<br>
<a href="http://ros-users.122217.n3.nabble.com/file/n2368030/frames.pdf" target="_blank">http://ros-users.122217.n3.nabble.com/file/n2368030/frames.pdf</a> frames.pdf<br>
<br>
<br>
<br>
<a href="http://ros-users.122217.n3.nabble.com/file/n2368030/Screenshot.png" target="_blank">http://ros-users.122217.n3.nabble.com/file/n2368030/Screenshot.png</a><br>
Screenshot.png<br>
<a href="http://ros-users.122217.n3.nabble.com/file/n2368030/Screenshot-2.png" target="_blank">http://ros-users.122217.n3.nabble.com/file/n2368030/Screenshot-2.png</a><br>
Screenshot-2.png<br>
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