Hi,
I am trying to move from stage simulation to real robot. In simulation all things were working quite good, but when I replaced stage_ros node with the robot package, it failed. I want to use Lego Mindstorms NXT 2 robot. I simulated it in stage without laser, using only odometry for localisation (I used fake_localisation node). You can see the difference in graphs. Here is the simulation graph:
image description http://storage4.static.itmages.ru/i/15/0604/h_1433413787_6234683_150499e9fb.png
And here is the connection to real robot:
image description http://storage3.static.itmages.ru/i/15/0604/h_1433413753_7481985_0ef46da453.png
As you can see /map_server lost connection to move_base, there are no move_base/action_topics, also /base_pose_ground_truth became hidden, because it connects only to fake_localisation. Goal_giver is the same as listengoal node, it is for sending coordinates of goal to move_base.
Does anyone have some ideas how to fix that?
Update
I got some results when I launched the simulation together with my real robot package. The tf errors were eliminated, and the planning worked. The problem remained that move_base was thinking that robot in stage_ros was my real robot, and it was trying to move it. Of course it did not move, as it was not receiving cmd_vel messages, but the real robot was trying to implement move_base commands. I tried to solve this localization problem, but the only thing I could do is to retranslate messages from /gripper/cmd_vel to /cmd_vel. Here is the graph:
image description http://storage3.static.itmages.ru/i/15/0610/h_1433929612_1617180_90a4fb733a.png
The robot really seemed to be moving, but it works awful. I understand why, of course. I should remove simulation part and set up normal localization package. But now I do not know what package should I use. Fake_localization, as I read, is suitable only for simulation, and amcl needs laser for work. What package can I use for localization only with odometry?
Originally posted by Dio Eraclea on ROS Answers with karma: 23 on 2015-06-04
Post score: 0
Original comments
Comment by David Lu on 2015-06-04:
Can you check the output of the move_base node for hints? I'm guessing it's outputting error messages about tf frames.
Comment by Dio Eraclea on 2015-06-05:
Actually, there is no reaction at all. I am trying to send simple goal to /gripper/move_base_node and I have no reaction in the terminal. Though, I can see that the goal is really sent through rqt_graph
Comment by Dio Eraclea on 2015-06-05:
Sorry, I tried it in different way, by using several launch files and now it is really giving me errors. Something like Waiting on transform from gripper/base to map to become available before running costmap, tf error;
