[ros-users] erratic gazebo path planning
hitesh dhiman
hitesh.dhiman.1988 at gmail.com
Sat May 8 07:56:53 UTC 2010
Hi all,
Thanks for the help. I checked and compared the costmap parameters file, and
in our case the laser_marking for base_scan was set to false. Once that was
set to true, we could see the inflated obstacles and the path planning also
worked.
Now, the tf tree for the simulation is as follows:
/ -->
/base_laser
/
/map -----> /odom -------> /base_link ----- /------> /base_caster &
/base_top
\
\
\ -->
/base_footprint
The next part for us is to run the robot in the real world, but we don't
have a predefined map. We just want to give the robot a goal of 1m forward
using simple_navigation_goals in an unknown environment. We are using the
robot's actual odometry information.
So my question is this: in the absence of a /map frame, will /odom be the
global frame for both global and local costmap? Or will it shift down the
heirarchy, for example now we have /map and /odom as global frames for
global and local costmap respectively, will it be /odom and /base_link
then??
On Sat, May 8, 2010 at 12:57 PM, Anh Tran <anhxuan.tran at gmail.com> wrote:
> Hello Hitesh,
>
> Let me elaborate on Anton's reply.
>
> 1. You will need several packages from our ua-ros-pkg repository. It might
> be easiest to checkout all packages from here (see our wiki pages from same
> link for instructions): http://code.google.com/p/ua-ros-pkg/
>
> <http://code.google.com/p/ua-ros-pkg/>2. Checkout the wubble_navigation
> package for a demo:
> http://code.google.com/p/ua-cs665-ros-pkg/source/browse/#svn/trunk/ua_navigation/wubble_navigation
>
>
> <http://code.google.com/p/ua-cs665-ros-pkg/source/browse/#svn/trunk/ua_navigation/wubble_navigation>3.
> Rosmake wubble_navigation and launch the demos in that package.
>
>
> Checkout this youtube video to see how 2dnav works with our current erratic
> model: http://www.youtube.com/watch?v=aA0gOd2P5jk
>
>
>
> Cheers,
> Anh Tran
>
>
>
> On Fri, May 7, 2010 at 1:20 PM, Antons Rebguns <arebgun at gmail.com> wrote:
>
>> -----BEGIN PGP SIGNED MESSAGE-----
>> Hash: SHA1
>>
>> Hi Hitesh,
>>
>> We spent some time getting the nav stack working for our erratic robot
>> both in simulation and real robot. Maybe you can
>> take a look at this package and see if that works for you.
>>
>> You would need ua_navigation stack from
>> http://code.google.com/p/ua-cs665-ros-pkg/ (specifically look at
>>
>> http://code.google.com/p/ua-cs665-ros-pkg/source/browse/trunk/ua_navigation/wubble_navigation/launch/2dnav_wg.launch
>> launch file) and stuff from http://code.google.com/p/ua-ros-pkg/.
>>
>> There are instruction on the wiki how to download and compile everything,
>> but let me know if you have any questions.
>>
>> Anton
>>
>> On 05/06/2010 05:08 AM, hitesh dhiman wrote:
>> > Hi all,
>> > I'm trying to run the erratic gazebo path planning, using the willow
>> > garage map provided.
>> > I'm using all custom parameters. However, the path planning seems to be
>> > faltering. It is actually planning a path through the wall, I've also
>> > attached a picture showing the path planning.
>> > Also, the inflated costmap is not being displayed, although the messages
>> > are being published and the rviz status says ok.
>> > Any idea what might be wrong?
>> >
>> >
>> > --
>> > Regards,
>> > Hitesh Dhiman
>> > Electrical Engineering
>> > National University of Singapore
>> >
>> >
>> >
>> > _______________________________________________
>> > ros-users mailing list
>> > ros-users at code.ros.org
>> > https://code.ros.org/mailman/listinfo/ros-users
>>
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>
>
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>
--
Regards,
Hitesh Dhiman
Electrical Engineering
National University of Singapore
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