Running move_base with gmapping

Question

I went though all relevantly tagged questions here and some tutorials, but still can't figure out what's wrong with my setup. As in subject, I'd like to configure move_base to work with gmapping on-line - gmapping is configured correctly, hence running. My config is mostly as described in Navigation Setup Wiki-post, ie.:

costmap_common_params.yaml:

obstacle_range: 2.5
raytrace_range: 3.0
robot_radius: 0.5
inflation_radius: 0.55

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: /laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

global_costmap_params.yaml:

global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 5.0
  static_map: false

local_costmap_params.yaml:

local_costmap:
  global_frame: world
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05

base_local_planner_params.yaml:

TrajectoryPlannerROS:

  max_vel_x: 0.1 #m/s
  min_vel_x: 0.0
  escape_vel: -0.1
  max_rotational_vel: 0.1 #rad/s
  min_in_place_rotational_vel: 0.0

  y_vels: [-0.1, -0.0, 0.0, 0.1]

  acc_lim_th: 1.0
  acc_lim_x: 1.0 #m/s2
  acc_lim_y: 1.0

  holonomic_robot: true

move_base.launch:

<launch>
  <master auto="start"/>

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find my_robot)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find my_robot)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find my_robot)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_robot)/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_robot)/base_local_planner_params.yaml" command="load" />
  </node>
</launch>

I launch laser-scan based gmapping before and it's all functional. I selected \world as odom frame in all gmapping packages, so I repeated this in move_base as well, hope this shouldn't be a problem. In rviz I selected move_base_simple in Tool properties -> 2D Nav Goal -> Topic. Yet, when I define a goal, nothing gets published on /cmd_vel topic.

What else do I need? Any hints appreciated.

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Originally posted by tom on ROS Answers with karma: 1079 on 2011-12-15

Post score: 0

Answer 1

Hi, You should set the goal topic to "move_base_simple/goal", not just "move_base_simple". Or was that just a typo? IIRC there are several other goal topics also, at least in my setup. You could try them too.

You can also use the command "rxgraph" to make sure that all the nodes are correctly connected, so there isn't a gap somewhere. Can be kind of hard if there are several package internal nodes and you don't really know which topics should be forwarded where, though...

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Originally posted by raahlb with karma: 317 on 2011-12-15

This answer was ACCEPTED on the original site

Post score: 3

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Original comments

Comment by tom on 2011-12-15:
Nope, not a typo :)