[ros-users] problem about move_base in navigation stack

[chris_li]

Hi all,

I am trying to use the navigation package, and I've exactly followed the
tutorial from http://www.ros.org/wiki/navigation/Tutorials/RobotSetup
But I was stuck in the move_base.launch file mentioned in the tutorial.

Below is the error I got:

load_parameters: unable to set parameters (last param was
[/move_base/global_costmap/laser_scan_sensor/clearing=True]): cannot marshal
None unless allow_none is enabled

My move_base.launch is exactly the same as the tutorial:

<launch>
       <master auto="start" />

       <node name="map_server" pkg="map_server" type="map_server"
args="/home/***/willow-full-0.05.png 0.05" />

       <include file="$(find amcl)/examples/amcl_omni.launch" />

       <node pkg="move_base" type="move_base" respawn="false"
name="move_base" output="screen">

               <rosparam command="load" file="$(find
nav_irobot)/costmap_common_params.yaml"  ns="global_costmap" />
               <rosparam command="load" file="$(find
nav_irobot)/costmap_common_params.yaml"  ns="local_costmap" />
               <rosparam command="load" file="$(find
nav_irobot)/local_costmap_params.yaml"  />
               <rosparam command="load" file="$(find
nav_irobot)/global_costmap_params.yaml"  />
               <rosparam command="load" file="$(find
nav_irobot)/base_local_planner_params.yaml"  />

       </node>

</launch>

If i remove the last three lines, it worked through (It wont be functioning
correctly of course). I deleted the three lines below:

               <rosparam command="load" file="$(find
nav_irobot)/local_costmap_params.yaml"  />
               <rosparam command="load" file="$(find
nav_irobot)/global_costmap_params.yaml"  />
               <rosparam command="load" file="$(find
nav_irobot)/base_local_planner_params.yaml"  />


BTW, I have a simple question that how we set the starting location of the
robot in the map?

Thanks for your time.

Chris
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