I'm using ROS indigo in my project and all the nodes and visualisation (Rviz) seems to be functional when I launch the program using roslaunch. Here are the sensors used in the scooter:
- Hokuyo Lidar
- Phidgets Encoder
However, when I start moving the scooter (the robot) using the joystick, the scooter will move physically, but in Rviz, the object detected by the lidar moves to the scooter, instead of the scooter moving in the map. Furthermore, the costmap obstacles will get smeared as I continue to move the scooter forward. Where could I have missed out?
Here are the node connections:
A screenshot of the tf tree:
EDIT: When I did roswtf, it shows that the robot footprint is disconnected, though the rqt graph shows otherwise. Here is the log of it:
Beginning test of your ROS graph. These may take a while... analyzing graph... ... done analyzing graph running graph rules... ... done running graph rules running tf checks, this will take a second... ... tf checks complete Online checks summary: Found 1 warning(s). Warnings are things that may be just fone, but are sometimes at fault WARNING The following node subscriptions are unconnected: * /rqt_gui_py_node_646: * /statistics * /tf_static * /amcl: * /tf_static * /rviz_1476945491120458509: * /tf_static * /map_updates * /move_base * /tf_static * /move_base/TebLocalPlannerROS/obstacles * /move_base/cancel * /robot_pose_publisher * /tf_static Found 1 error(s). ERROR The following nodes should be connected but aren't: * /move_base->/move_base (/move_base/global_costmap/footprint) * /move_base->/move_base (/move_base/local_costmap/footprint)
Please advise on the possible ways that I can undertake to debug this issue.