Hi all,<br>I've been trying to troubleshoot the robot and running navigation stack on it. Earlier atleast the path was being planed and published, but we decided to migrate to a different laptop with a graphics card.<br>
Now, our files are the same, the tf's are also same, I've attached the file. ROS installation on the new laptop was done through svn, and that's the only change. <br>The odometry is transformed as follows:<br>
odom_broadcaster.sendTransform((odom.pose.pose.position.x, odom.pose.pose.position.y , odom.pose.pose.position.z),tf.transformations.quaternion_from_euler(0,0,float(odo_returned[2]*0.001534)),rospy.Time.now(),"base_link","odom") <br>
<br>odo_returned[2] here is an element of a python list, and contains the odometry data with yaw values, that have a conversion factor of .001534.<br><br>The laser is being transformed as follows:<br>broadcaster.sendTransform(tf::StampedTransform(tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.0, 0.0, 0.2)),ros::Time::now(),"/base_link", "/laser"));<br>
<br>The values for move_base parameters are also shown below:<br><span style="background-color: rgb(255, 255, 255); color: rgb(102, 0, 204);">base_local_planner_params.yaml:</span><br>TrajectoryPlannerROS:<br> transform_tolerance: 0.3<br>
sim_time: 1.7<br> sim_granularity: 0.05<br># dwa: true<br> vx_samples: 3<br> vtheta_samples: 20<br> max_vel_x: 1<br> min_vel_x: 0.2<br> max_rotational_vel: 1.0<br> min_in_place_rotational_vel: 0.4<br> xy_goal_tolerance: 0.2<br>
yaw_goal_tolerance: 0.05<br> goal_distance_bias: 0.8<br> path_distance_bias: 0.6<br> occdist_scale: 0.5<br># occdist_scale: 0.05<br> heading_lookahead: 0.325<br> oscillation_reset_dist: 0.05<br> acc_limit_th: 3.2<br>
acc_limit_x: 2.5<br> acc_limit_y: 2.5<br> holonomic_robot: false<br><br><span style="color: rgb(51, 51, 153);">costmap_common_params.yaml:</span><br>obstacle_range: 2.5<br>raytrace_range: 1.0<br>footprint: [[-0.2, -0.2], [0.2, -0.2], [0.2, 0.2], [-0.2, 0.2]]<br>
#robot_radius: 0.4<br>inflation_radius: 0.2<br><br>observation_sources: laser_scan_sensor <br><br>laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan , marking: true, clearing: true}<br><br><span style="color: rgb(51, 51, 153);">global_costmap_params.yaml:</span><br>
global_costmap:<br> global_frame: /odom<br> robot_base_frame: /base_link<br> update_frequency: 5.0<br> publish_frequency: 2.0<br> static_map: false<br><br><span style="color: rgb(51, 51, 153);">local_costmap_params.yaml:</span><br>
local_costmap:<br> global_frame: /odom<br> robot_base_frame: /base_link<br> update_frequency: 5.0<br> publish_frequency: 2.0<br> static_map: false<br> rolling_window: true<br> width: 6.0<br> height: 6.0<br> resolution: 0.05<br>
<br clear="all">I'm using simple_navigation_goals, and giving a goal of x=2 m and w = 1 in /odom frame.<br><br>On passing the goal, the robot starts rotating about the centre, and gives the following in the status:<br>
Failed to find a valid plan. Even after executing recovery behaviors.<br>No messages for any global or local plan are being published. We also tried to start with running the robot straight, and then giving it a goal to see if anything works. But the velocity commands were still being pulished as (x =0, theta = 57), which means it still wants to rotate.<br>
The action server reports that the The base failed to move forward 2 meter for some reason.<br><br>The test is being done in a corridor, approx 8-10 feet wide with no obstacles, so there is no reason why the plan should fail.<br>
<br>Any help or hints would be greatly appreciated. I've out all the possible problems i thought could exist, but no luck so far.<br>-- <br>Regards,<br>Hitesh Dhiman<br>Electrical Engineering<br>National University of Singapore<br>