I'm trying to navigate a turtlebot with eband_local_planner on hydro. I have already navigated a turtlebot with base_local_planner. With eband_local_planner, next error is displayed on a terminal.
load_parameters: unable to set parameters (last param was [/move_base/local_costmap/publish_voxel_map=True]): cannot marshal None unless allow_none is enabled
As if I chage publish_voxel_map false in costmap_common_params.yaml, new error is displayed on a terminal.
load_parameters: unable to set parameters (last param was [/move_base/local_costmap/publish_voxel_map=False]): cannot marshal None unless allow_none is enabled
I don't understand yaml file enough yet. What is difference between yaml on eband_local_planner and one on base_local_planner? Could anyone give me some advice?
costmap_common_params.yaml
global_frame: /map
robot_base_frame: /hokuyo_link
update_frequency:
publish_frequency: 1.0
publish_voxel_map: false
map_type: voxel
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
unknown_threshold: 10
mark_threshold: 0
max_obstacle_height: 0.60
obstacle_range: 3.0
raytrace_range: 3.0
robot_radius: 0.18
observation_sources: scan bump
scan: {data_type: LaserScan, topic: /base_scan, marking: true, clearing: true, min_obstacle_height: 0.6, max_obstacle_height: 0.6}
bump: {data_type: PointCloud2, topic: mobile_base/sensors/bumper_pointcloud, marking: true, clearing: false, min_obstacle_height: 0.0, max_obstacle_height: 0.1}
global_costmap_params.yaml
global_costmap: global_frame: /map robot_base_frame: /base_link update_frequency: 3.0 publish_frequency: 1.0 static_map: true transform_tolerance: 1.0 width: 100 height: 100 resolution: 0.05 inflation_radius: 0.4
local_costmap_params.yaml
local_costmap: global_frame: odom robot_base_frame: base_footprint update_frequency: 3.0 publish_frequency: 1.0 static_map: false rolling_window: true meter_scoring: true width: 4.0 height: 4.0 resolution: 0.05 transform_tolerance: 0.25 footprint_padding: 0.02
move_base_params.yaml
foot_print: [[-0.18, -0.18], [0.18, -0.18], [0.18, 0.18], [-0.18, 0.18]] shutdown_costmaps: false controller_frequency: 5.0 controller_patience: 3.0 planner_frequency: 2.0 planner_patience: 5.0 oscillation_timeout: 10.0 oscillation_distance: 0.2
eband_planner_params.yaml
EBandPlannerROS: #TRAJECTORY CONTROL differential_drive: true # velocity limits max_vel_lin: 0.8 max_vel_th: 0.5 min_vel_lin: 0.5 min_in_place_vel_th: 0.25 # goal tolerance xy_goal_tolerance: 0.15 yaw_goal_tolerance: 0.15 # angular velocity PID k_prop: 0.3 #eband parameters
Originally posted by Ken_in_JAPAN on ROS Answers with karma: 894 on 2014-04-01
Post score: 0
Original comments
Comment by ahendrix on 2014-04-01:
It sounds like there's an error in your yaml file; can you add it to your question?
Comment by Ken_in_JAPAN on 2014-04-02:
Could you wait for my edit? I don't know how to show my .yaml directly on this page.
