[ros-users] Navigation stack in Stage

[Gorka Azcune]

Hi,

 

Thanks for your answers. This is what 'rosnode list' writes:

 

/amcl

/map_server

/move_base

/rosout

/stageros

 

Eitan, I understand what you are suggesting, but my map is centred in
(0, 0) coordinates and goes from (-29.35, -27) to (29.35, 27) metres,
which means that all the coordinates output by move_base are within the
map. I think the problem could be related to map_server, but I don't see
how. Here you have the launch file we use to launch 'amcl', 'move_base'
and 'map_server':

 

<launch>

  <param name="/use_sim_time" value="true"/>

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

    <rosparam file="$(find
2d_navigation_launcher)/costmap_common_params.yaml" command="load"
ns="global_costmap" />

    <rosparam file="$(find
2d_navigation_launcher)/costmap_common_params.yaml" command="load"
ns="local_costmap" />

    <rosparam file="$(find
2d_navigation_launcher)/local_costmap_params.yaml" command="load" />

    <rosparam file="$(find
2d_navigation_launcher)/global_costmap_params.yaml" command="load" />

    <rosparam file="$(find
2d_navigation_launcher)/base_local_planner_params.yaml" command="load"
/>

  </node>

  <!-- Run the map server -->

  <node name="map_server" pkg="map_server" type="map_server"
args="$(find stage)/world/willow-full.pgm 0.1" respawn="false"

/>

 

  <!--- Run AMCL -->

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

</launch>

 

The world file we use for stage is based on the provide in the package
stage ('willow-erratic.world'). I put it here just in case:

 

define block model

(

  size3 [0.5 0.5 0.5]

  gui_nose 0

)

 

define topurg laser

(

  range_min 0.0

  range_max 30.0

  fov 270.25

  samples 1081

  # generic model properties

  color "black"

  size [ 0.05 0.05 0.1 ]

)

 

define erratic position

(

  #size3 [0.415 0.392 0.25]

  size3 [0.35 0.35 0.25]

  origin3 [-0.05 0 0 0]

  gui_nose 1

  drive "diff"

  localization "gps"

  topurg(pose [0.050 0.000 0.000])

)

 

define floorplan model

(

  # sombre, sensible, artistic

  color "gray30"

 

  # most maps will need a bounding box

  boundary 1

 

  gui_nose 0

  gui_grid 0

  gui_movemask 0

  gui_outline 0

  gripper_return 0

  fiducial_return 0

  laser_return 1

)

 

# set the resolution of the underlying raytrace model in meters

resolution 0.02

 

interval_sim 100  # simulation timestep in milliseconds

interval_real 100  # real-time interval between simulation updates in
milliseconds 

 

window

( 

  size [ 745.000 448.000 ] 

  center [678.990 293.960] 

  rotate [ 0.000 -1.560 ]

  scale 28.806 

)

 

# load an environment bitmap

floorplan

( 

  name "willow"

  bitmap "willow-full.pgm"

  size3 [54.0 58.7 0.5]

  #pose [-29.350 27.000 90.000]

  pose [0.0 0.0 0.0]

)

 

# throw in a robot

erratic( pose [0.0 0.0 0.0] name "era" color "blue")

block( pose [3.0 0.0 0.0] color "red")

 

I'm quite sure the error must be related to some wrong parameters, but I
cannot find it. Thanks for your help again!

 

 

______________________________ 

Gorka Azkune Galparsoro

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