I'm trying to get the frontier_exploration package to work with my TurtleBot. But so far it's not working.
The launch file
<launch>
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<remap from="scan" to="/scan2" />
<rosparam>
occ_thresh: 0.25
odom_frame: odom
map_update_interval: 5.0
maxUrange: 6.0
maxRange: 8.0
sigma: 0.05
kernelSize: 1
lstep: 0.05
astep: 0.05
iterations: 5
lsigma: 0.075
ogain: 1.0
lskip: 0
srr: 0.01
srt: 0.02
str: 0.01
stt: 0.02
linearUpdate: 0.5
angularUpdate: 0.436
temporalUpdate: -1.0
resampleThreshold: 0.5
particles: 80
xmin: -1.0
ymin: -1.0
xmax: 1.0
ymax: 1.0
delta: 0.05
llsamplerange: 0.01
llsamplestep: 0.01
lasamplerange: 0.005
lasamplestep: 0.005
base_frame: base_link
</rosparam>
</node>
<node name="rviz" pkg="rviz" type="rviz">
</node>
<include file="$(find turtlebot_navigation)/launch/includes/velocity_smoother.launch.xml"/>
<include file="$(find turtlebot_navigation)/launch/includes/safety_controller.launch.xml"/>
<arg name="odom_topic" default="odom" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find turtlebot_navigation)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/base_local_planner_params.yaml" command="load" />
<rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load" />
<remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
<remap from="odom" to="$(arg odom_topic)"/>
</node>
</launch>
global_costmap_params.yaml
global_costmap:
global_frame: /map
robot_base_frame: /base_footprint
update_frequency: 3.0
publish_frequency: 0.0
static_map: true
transform_tolerance: 0.5
local_costmap_params.yaml
local_costmap:
global_frame: /odom
robot_base_frame: /base_footprint
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 4.0
height: 4.0
resolution: 0.05
transform_tolerance: 0.5
Errors from the frontier_exploration terminal
[ WARN] [1414574875.215553173]: Please select an initial point for exploration inside the polygon
[ INFO] [1414574876.981956729]: Sending goal
[ INFO] [1414574877.352866124]: Using plugin "static"
[ INFO] [1414574877.621707478]: Requesting the map...
[ INFO] [1414574877.775594588]: Resizing costmap to 576 X 288 at 0.050000 m/pix
[ INFO] [1414574877.847249155]: Received a 576 X 288 map at 0.050000 m/pix
[ INFO] [1414574877.847298258]: Subscribing to updates
[ INFO] [1414574878.016550480]: Using plugin "explore_boundary"
[ INFO] [1414574878.541237670]: Using plugin "sensor"
[ INFO] [1414574878.664303536]: Subscribed to Topics: /scan2
[ INFO] [1414574879.327905514]: Using plugin "inflation"
[ERROR] [1414574880.852823897]: Exception thrown while processing service call: Lookup would require extrapolation into the past. Requested time 1414574873.590463123 but the earliest data is at time 1414574878.157772422, when looking up transform from frame [odom] to frame [map]
[ERROR] [1414574880.853237138]: Service call failed: service [/explore_server/explore_costmap/explore_boundary/update_boundary_polygon] responded with an error: Lookup would require extrapolation into the past. Requested time 1414574873.590463123 but the earliest data is at time 1414574878.157772422, when looking up transform from frame [odom] to frame [map]
[ERROR] [1414574880.853397382]: Failed to set region boundary
Errors from my gmapping launch file terminal
[ WARN] [1414574406.526808975]: Could not transform the global plan to the frame of the controller
[ WARN] [1414574406.726686480]: Rotate recovery behavior started.
[ERROR] [1414574407.526747008]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 1414574410.178328037 but the latest data is at time 1414574407.557751617, when looking up transform from frame [odom] to frame [map]
[ERROR] [1414574407.526792212]: Global Frame: odom Plan Frame size 83: map
[ WARN] [1414574407.526823145]: Could not transform the global plan to the frame of the controller
[ERROR] [1414574407.726658949]: Aborting because a valid control could not be found. Even after executing all recovery behaviors
This is from roswtf
================================================================================
Static checks summary:
No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
ERROR: connection refused to [http://192.168.1.101:57184/]
... done running graph rules
running tf checks, this will take a second...
... tf checks complete
Online checks summary:
Found 4 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING The following node subscriptions are unconnected:
* /rviz:
* /tf_static
* /exploration_polygon_marker_array
* /map_updates
* /slam_gmapping:
* /tf_static
* /explore_server:
* /explore_server/explore_costmap/footprint
* /explore_server/cancel
* /tf_static
* /map_updates
* /explore_server/goal
* /camera/camera_nodelet_manager:
* /tf_static
* /mobile_base_nodelet_manager:
* /kobuki_safety_controller/reset
* /kobuki_safety_controller/disable
* /mobile_base/events/bumper
* /kobuki_safety_controller/enable
* /mobile_base/events/cliff
* /mobile_base/events/wheel_drop
* /cmd_vel_mux/input/teleop
* /move_base:
* /move_base/local_costmap/footprint
* /scan
* /scan1
* /move_base/global_costmap/footprint
* /tf_static
* /mobile_base/sensors/bumper_pointcloud
* /scan3
* /robot_pose_ekf:
* /tf_static
* /rviz_1414572817549013793:
* /tf_static
WARNING The following nodes are unexpectedly connected:
* /turtlebot_node->/rqt_gui_py_node_5547 (/turtlebot_node/parameter_updates)
* /turtlebot_node->/rqt_gui_py_node_5547 (/turtlebot_node/parameter_descriptions)
WARNING These nodes have died:
* turtlebot_laptop_battery-8
* kinect_breaker_enabler-4
WARNING Received out-of-date/future transforms:
* receiving transform from [/robot_state_publisher] that differed from ROS time by 3.751655102s
* receiving transform from [/camera_base_link1] that differed from ROS time by 2.878755525s
* receiving transform from [/camera_base_link3] that differed from ROS time by 2.878594282s
* receiving transform from [/camera_base_link2] that differed from ROS time by 2.87764309s
* receiving transform from [/camera_base_link] that differed from ROS time by 2.879013752s
* receiving transform from [/robot_pose_ekf] that differed from ROS time by 2.751272917s
* receiving transform from [/ira_static_broadcaster2] that differed from ROS time by 3.765229121s
Found 3 error(s).
ERROR Could not contact the following nodes:
* /rviz_1414572817549013793
ERROR The following nodes should be connected but aren't:
* /depthimage_to_laserscan->/explore_server (/scan2)
* /camera_base_link2->/rviz_1414572817549013793 (/tf)
* /camera_base_link->/rviz_1414572817549013793 (/tf)
* /slam_gmapping->/rviz_1414572817549013793 (/tf)
* /ira_static_broadcaster2->/rviz_1414572817549013793 (/tf)
* /robot_pose_ekf->/rviz_1414572817549013793 (/tf)
* /camera_base_link3->/rviz_1414572817549013793 (/tf)
* /robot_state_publisher->/rviz_1414572817549013793 (/tf)
* /camera_base_link1->/rviz_1414572817549013793 (/tf)
ERROR Errors connecting to the following services:
* service [/rviz_1414572817549013793/get_loggers] appears to be malfunctioning: Unable to communicate with service [/rviz_1414572817549013793/get_loggers], address [rosrpc://192.168.1.101:36179]
* service [/rviz_1414572817549013793/reload_shaders] appears to be malfunctioning: Unable to communicate with service [/rviz_1414572817549013793/reload_shaders], address [rosrpc://192.168.1.101:36179]
* service [/rviz_1414572817549013793/set_logger_level] appears to be malfunctioning: Unable to communicate with service [/rviz_1414572817549013793/set_logger_level], address [rosrpc://192.168.1.101:36179]
I believe that the tf tree is fine. But i'll attached it anyways along with rqt_graph, the launch file and costmaps config.
EDIT: Uni's network is blocking imgur and other important stuffs. I'll figure how to upload things. Brb.
EDIT: tf tree
Originally posted by charkoteow on ROS Answers with karma: 121 on 2014-10-29
Post score: 3
Original comments
Comment by sobot on 2015-05-05:
have you finally got it to work? its driving me nuts lol any luck, progress, idea? here is my Question I'd appreciate any little help. thanks
Comment by charkoteow on 2015-05-06:
i really can't pin down the exact problem. sometimes it works, sometimes it doesn't. even with the clock synced properly and i also set the openni publish transform to false to fix the kinect's tf issues. we've moved on from mapping to olfaction recently so I can't help you much for the time being.
Comment by sobot on 2015-05-06:
thank you for the response. one last thing, i thought i would borrow the configs that you posted here, to test on my bot. apart from clock n stuff, you did use the same config as posted here right?
Comment by charkoteow on 2015-05-06:
Almost all of it are the same.
I've increased the transform tolerance, update_frequency, publish_frequency and changed robot_base_frame to base_link on the global costmap params and frontier's launch file.
I think they must be the same. Check your launch file....
Comment by charkoteow on 2015-05-06:
...the one i've uploaded was mainly about gmapping & move_base. i think i should update my Q.
Comment by sobot on 2015-05-06:
Thanks a bunch for the replies. im so stuck on finding a working exploration package you have no idea lol. have a good day!
Comment by 130s on 2016-06-15:
Maybe either of you can help me at http://answers.ros.org/question/237001/turtlebotfrontier_exploration-robot-never-moves-while-sending-goal/