<html xmlns:o="urn:schemas-microsoft-com:office:office" xmlns:w="urn:schemas-microsoft-com:office:word" xmlns="http://www.w3.org/TR/REC-html40">
<head>
<meta http-equiv=Content-Type content="text/html; charset=us-ascii">
<meta name=Generator content="Microsoft Word 11 (filtered medium)">
<style>
<!--
/* Style Definitions */
p.MsoNormal, li.MsoNormal, div.MsoNormal
{margin:0cm;
margin-bottom:.0001pt;
font-size:12.0pt;
font-family:"Times New Roman";}
a:link, span.MsoHyperlink
{color:blue;
text-decoration:underline;}
a:visited, span.MsoHyperlinkFollowed
{color:purple;
text-decoration:underline;}
span.EstiloCorreo17
{mso-style-type:personal-compose;
font-family:Arial;
color:windowtext;}
@page Section1
{size:595.3pt 841.9pt;
margin:70.85pt 3.0cm 70.85pt 3.0cm;}
div.Section1
{page:Section1;}
-->
</style>
</head>
<body lang=ES link=blue vlink=purple>
<div class=Section1>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'>Hello ROS community,<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'>We are trying to test the navigation stack in Stage. Even
though we follow the Navigation tutorial and have a look at the package
move_base_stage as an example, we cannot use navigation successfully. When we
launch our .launch file, it seems everything goes fine. However, when we send a
goal to move_base, the robot starts rotating and writes several warnings:<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'>[WARN] 1777.800000000: The origin for the sensor at
(-0.03, -0.06, 0.15) is out of map bounds. So, the costmap cannot raytrace for
it. <o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'>[WARN] 1777.700000000: The robot's start position is
off the global costmap. Planning will always fail, are you sure the robot has
been properly localized?<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'>The first one is the most common one, while the
second one appears sometimes. We are using the willow-full.pgm map, centred in
(0, 0, 0) (in stage) and with 0.1 metres/pixel resolution for map_server. We
set amcl initial pose to (0, 0, 0), which is the pose where the robot starts. And
the strangest thing is that those warnings do not appear always even though we
launch the same launch file. We have checked all the files against the
move_base_stage package and it seems everything makes sense. <o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'>On the other hand, we also have seen that when we
move the robot using the mouse in Stage, the transform between the map and the
sensor origin becomes faulty. For example, when the robot is at (0, 1), the
origin of the sensor is said to be at (0.44, -0.01). Notice that we are using
the erratic model provided in the stage package. <o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'>We don’t know where the problem(s) is(are). Does
anybody have a clue? Thanks in advance!<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-GB style='font-size:
10.0pt;font-family:Arial'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
3.0pt;margin-left:0cm'><b><font size=2 color="#ff9900" face=Arial><span
style='font-size:11.0pt;font-family:Arial;color:#FF9900;font-weight:bold'>______________________________</span></font></b>
<o:p></o:p></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
12.0pt;margin-left:0cm'><b><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial;font-weight:bold'>Gorka Azkune Galparsoro</span></font></b><font
size=2 face=Arial><span style='font-size:10.0pt;font-family:Arial'><o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
1.8pt;margin-left:0cm'><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'>Kontrol eta IKT Saila</span></font><o:p></o:p></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
1.8pt;margin-left:0cm'><font size=2 face=Arial><span style='font-size:10.0pt;
font-family:Arial'>Departamento de Control y TIC</span></font> <o:p></o:p></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
1.8pt;margin-left:0cm'><i><font size=2 face=Arial><span lang=EN-GB
style='font-size:10.0pt;font-family:Arial;font-style:italic'>Control and ICT
Department </span></font></i><span lang=EN-GB><o:p></o:p></span></p>
<p class=MsoNormal style='mso-margin-top-alt:1.8pt;margin-right:0cm;margin-bottom:
1.8pt;margin-left:0cm'><font size=3 face="Times New Roman"><span lang=EN-GB
style='font-size:12.0pt'> <o:p></o:p></span></font></p>
<p class=MsoNormal style='margin-top:1.8pt;mso-margin-bottom-alt:auto'><b><font
size=2 color="#ff8000" face=Arial><span lang=EN-GB style='font-size:10.0pt;
font-family:Arial;color:#FF8000;font-weight:bold'>FATRONIK</span></font></b><b><font
size=2 face=Arial><span lang=EN-GB style='font-size:10.0pt;font-family:Arial;
font-weight:bold'> </span></font></b><font size=2 face=Arial><span
lang=EN-GB style='font-size:10.0pt;font-family:Arial'><br>
</span></font><font size=1 face=Arial><span lang=EN-GB style='font-size:9.0pt;
font-family:Arial'>Mikeletegi Pasealekua, 7 - . </span></font><font
size=1 face=Arial><span lang=PT-BR style='font-size:9.0pt;font-family:Arial'>Teknologi
Parkea <br>
E-20.009 Donostia (Gipuzkoa)-Spain</span></font><font size=2 face=Arial><span
lang=PT-BR style='font-size:10.0pt;font-family:Arial'> <o:p></o:p></span></font></p>
<p class=MsoNormal style='margin-top:1.8pt;mso-margin-bottom-alt:auto'><b><font
size=1 face=Arial><span lang=EN-GB style='font-size:9.0pt;font-family:Arial;
font-weight:bold'>Telf</span></font></b><font size=1 face=Arial><span
lang=EN-GB style='font-size:9.0pt;font-family:Arial'>: (+34) 943 005500<br>
<b><span style='font-weight:bold'>Fax</span></b>: (+34) 943 005511<br>
<b><span style='font-weight:bold'>e-mail</span></b> : <a
href="mailto:gazcune@fatronik.com">gazcune@fatronik.com</a><br>
<b><span style='font-weight:bold'>web </span></b>: <a
href="http://www.fatronik.com" target="_blank"
title="blocked::http://www.fatronik.com/
http://www.fatronik.com/">www.fatronik.com</a></span></font><font
size=1 face=Arial><span lang=EN-GB style='font-size:7.5pt;font-family:Arial'> </span></font><o:p></o:p></p>
<p class=MsoNormal style='margin-top:1.8pt;mso-margin-bottom-alt:auto'><font
size=3 face="Times New Roman"><span style='font-size:12.0pt'> </span></font><span
lang=FR><o:p></o:p></span></p>
<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'><o:p> </o:p></span></font></p>
</div>
</body>
</html>