[ros-users] Gazebo-Erratic-Amcl-rviz

[Nicolás Alvarez Picco]

hi everyone!
I am working with a simulated erratic model in gazebo, the model is the same that it is in the erratic simulation tutorial. The thing is that I have build a 3d map inside an empty world and i want to show that in rviz, so I am using the map server to show the map. As I have problems with the localization of the robot in the map that I showing in the rviz, I tried with the node fake-localization, but i have still drift with the laser points. Therefore my intention is to use the amcl node to have a better localization of my robot using the simulated laser info.
I am launching this files:








<launch>
  <!-- this launch file corresponds to robot model in ros-pkg/robot_descriptions/pr2/erratic_defs/robots for full erratic -->
  <!-- start up wg world -->
  <include file="$(find gazebo_worlds)/launch/testing_world.launch"/>
  <!--<include file="$(find erratic_nav)/amcl.launch"/>  -->
   <!-- Static transforms -->
    <include file="$(find han_Scene)/launch/static_transforms.launch"/>
   
  <!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find han_Scene)/scenarios/bar/map_config.yaml" />-->

  <!-- Create a transform sender for linking these frames. 
  <node name="tf_footprint_base" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 base_link base_footprint 40" />    -->

  <!-- send pr2.xml to param server -->
  <param name="robot_description" command="$(find xacro)/xacro.py '$(find erratic_gazebo)/robots/erratic.urdf.xacro'" />

  <!-- push robot_description to factory and spawn robot in gazebo -->
  <node name="spawn_erratic" pkg="gazebo_tools" type="gazebo_model" args="-z 0.051 -p robot_description spawn robot_description" respawn="false" output="screen" />

  <!-- Controller Manager -->
  <include file="$(find pr2_controller_manager)/controller_manager.launch" />

  <!-- Fake Calibration -->
  <node pkg="rostopic" type="rostopic" name="fake_joint_calibration" args="pub /calibrated std_msgs/Bool true" />

  <!-- load controllers -->
  <node name="diffdrive" pkg="gazebo_plugins" type="gazebo_ros_diffdrive" respawn="true" output="screen"/>
  
    <!-- Fake Localization
  <node name="fake_localization" pkg="fake_localization" type="fake_localization" /> -->
  
  <node pkg="amcl" type="amcl" name="amcl">
  <remap from="scan" to="/base_scan" />
  </node>
   
</launch>



<launch>

  <!-- start gazebo with an empty plane -->
  <param name="/use_sim_time" value="true" />
  
   <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_worlds)/worlds/empty.world" respawn="false" output="screen"/>

  <!-- wg walls-->
  <param name="walls" textfile="$(find han_Scene)/scenarios/bar/walls.model" />
  <node name="xml2factor_wg_walls" pkg="gazebo" type="spawn_model" args="-gazebo -param walls -x -7.65 -y -7.65 -model walls" respawn="false" output="screen" />
</launch>


The thing is when I do this I have this error and its dies the amcl:



[amcl-15] process has died [pid 902, exit code -6].

log files: /home/robot/.ros/log/d5d7c27a-0d21-11e0-a4d4-0026b9e75b87/amcl-15*.log

If I try the same without launching the map_server node there is no problem. So is the amcl incompatible with the gazebo's simulations? how can I do this?

Thanks, i have try everything but I can't solve it.

Nicolas
 		 	   		  
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