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<p class=MsoNormal>Folks, <o:p></o:p></p>
<p class=MsoNormal><o:p> </o:p></p>
<p class=MsoNormal><span style='font-family:"Arial","sans-serif"'> I’m
trying to get the </span><span lang=EN style='font-family:"Arial","sans-serif";
color:black'>Navigation Stack working for a homegrown robotic platform and have
setup the stack as described in the <a
href="http://www.ros.org/wiki/navigation/Tutorials/RobotSetup">robot setup
tutorial</a>.</span><span lang=EN style='font-family:"Arial","sans-serif"'><o:p></o:p></span></p>
<p class=MsoNormal style='text-indent:.5in'><span lang=EN style='font-family:
"Arial","sans-serif"'>To test the stack/setup I am using the </span><span
lang=EN style='font-family:"Helvetica","sans-serif";color:black'><a
href="http://www.ros.org/wiki/navigation/Tutorials/SendingSimpleGoals">Sending
Simple Navigation Goals</a> tutorial. Navigation stack, as well as the
</span><span lang=EN style='color:black'>simple_navigation_goals node are launched
as described in these tutorials. </span><span lang=EN style='font-family:"Helvetica","sans-serif";
color:black'><o:p></o:p></span></p>
<p class=MsoNormal style='text-indent:.5in'><span lang=EN style='font-family:
"Helvetica","sans-serif";color:black'><o:p> </o:p></span></p>
<p class=MsoNormal style='text-indent:.5in'><span lang=EN style='font-family:
"Helvetica","sans-serif";color:black'>Now here’s the issue: though,
/move_base node is created, it seems that the action server is not created, and
hence simple_navigation_goals spins on…<o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN style='font-family:"Arial","sans-serif";
color:black'><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN style='font-family:"Arial","sans-serif";
color:black'><o:p> </o:p></span></p>
<p class=MsoNormal style='background:#F3F5F7'><span lang=EN style='font-size:
10.0pt;font-family:Courier;color:green'> //wait
for the action server to come up</span><span lang=EN style='font-size:10.0pt;
font-family:Courier;color:black'><o:p></o:p></span></p>
<p class=MsoNormal style='background:#F3F5F7'><span lang=EN style='font-size:
10.0pt;font-family:Courier;color:gray'> 14 </span><span lang=EN
style='font-size:10.0pt;font-family:Courier;color:black'> </span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:#A00000'>while</span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:#0000C0'>(!</span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:black'>ac</span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:#0000C0'>.</span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:black'>waitForServer</span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:#0000C0'>(</span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:black'>ros</span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:#0000C0'>::</span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:black'>Duration</span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:#0000C0'>(</span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:#0080C0'>5.0</span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:#0000C0'>))){</span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:black'><o:p></o:p></span></p>
<p class=MsoNormal style='background:#F3F5F7'><span lang=EN style='font-size:
10.0pt;font-family:Courier;color:gray'> 15 </span><span lang=EN
style='font-size:10.0pt;font-family:Courier;color:black'> ROS_INFO</span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:#0000C0'>(</span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:#004080'>"Waiting
for the move_base action server to come up"</span><span lang=EN
style='font-size:10.0pt;font-family:Courier;color:#0000C0'>);</span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:black'><o:p></o:p></span></p>
<p class=MsoNormal style='background:#F3F5F7'><span lang=EN style='font-size:
10.0pt;font-family:Courier;color:gray'> 16 </span><span lang=EN
style='font-size:10.0pt;font-family:Courier;color:black'> </span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:#0000C0'>}</span><span
lang=EN style='font-size:10.0pt;font-family:Courier;color:black'><o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN style='font-family:"Arial","sans-serif";
color:black'><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN style='font-family:"Arial","sans-serif";
color:black'>In addition to launching the move_base node, is there anything
else that needs to be done to create the action server…. <o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN style='font-family:"Arial","sans-serif";
color:black'><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN style='font-family:"Arial","sans-serif";
color:black'>Thanks <o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN style='font-family:"Arial","sans-serif";
color:black'><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN style='font-family:"Arial","sans-serif";
color:black'>Joseph <o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN style='font-family:"Arial","sans-serif";
color:black'> <o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN style='font-family:"Arial","sans-serif";
color:black'><o:p> </o:p></span></p>
<p class=MsoNormal><span lang=EN style='font-family:"Arial","sans-serif";
color:black'>[1] <a
href="http://www.ros.org/wiki/navigation/Tutorials/RobotSetup">http://www.ros.org/wiki/navigation/Tutorials/RobotSetup</a><o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN style='font-family:"Arial","sans-serif";
color:black'>[2] <a
href="http://www.ros.org/wiki/navigation/Tutorials/SendingSimpleGoals">http://www.ros.org/wiki/navigation/Tutorials/SendingSimpleGoals</a><o:p></o:p></span></p>
<p class=MsoNormal><span lang=EN style='font-family:"Arial","sans-serif";
color:black'><o:p> </o:p></span></p>
<p class=MsoNormal><o:p> </o:p></p>
<p class=MsoNormal><o:p> </o:p></p>
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