I am attempting to use the navigation stack in Jade on Ubuntu 14.04. While robot is driving towards goal, the cost map and point cloud disappear permanently and navigation stops. I need to close the launch to restart. The error only occurs when the robot is running(it is following path).
I am finding an error in the master log I think is the cause. See below. The error does not seem to correlate to the line immediately above where the errors starts. I mean that the INFO being published when the error occurs is different each time. The other log files have errors relating to the robot no longer being localized.
Can you help me trace the cause of this error? Restarting PC didn't help. Rebuilding entire project didn't help. Running rosclean purge (deleting log files) seemed to help in that in the duration of navigation prior to crash changed from very quick (1 to 3 seconds) after starting towards goal to running OK for many (10 or more) seconds. It will occasionally make it to the goal successfully, just across the room.
[rosmaster.master][INFO] 2016-06-15 23:24:46,304: publisherUpdate[/particlecloud] -> http://linux-Latitude-D630:37147/
[rosmaster.master][INFO] 2016-06-15 23:24:46,309: -PUB [/rosout] /map_server http://linux-Latitude-D630:44019/
[rosmaster.master][INFO] 2016-06-15 23:24:46,311: -PUB [/map_metadata] /map_server http://linux-Latitude-D630:44019/
[rosmaster.master][INFO] 2016-06-15 23:24:46,312: -PUB [/map] /map_server http://linux-Latitude-D630:44019/
[rosmaster.master][INFO] 2016-06-15 23:24:46,314: -SERVICE [/map_server/get_loggers] /map_server rosrpc://linux-Latitude-D630:55425
[rosmaster.master][INFO] 2016-06-15 23:24:46,315: -SERVICE [/map_server/set_logger_level] /map_server rosrpc://linux-Latitude-D630:55425
[rosmaster.threadpool][ERROR] 2016-06-15 23:24:46,319: Traceback (most recent call last):
File "/opt/ros/jade/lib/python2.7/dist-packages/rosmaster/threadpool.py", line 218, in run
result = cmd(*args)
File "/opt/ros/jade/lib/python2.7/dist-packages/rosmaster/master_api.py", line 208, in publisher_update_task
xmlrpcapi(api).publisherUpdate('/master', topic, pub_uris)
File "/usr/lib/python2.7/xmlrpclib.py", line 1233, in __call__
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1587, in __request
verbose=self.__verbose
File "/usr/lib/python2.7/xmlrpclib.py", line 1273, in request
return self.single_request(host, handler, request_body, verbose)
File "/usr/lib/python2.7/xmlrpclib.py", line 1306, in single_request
return self.parse_response(response)
File "/usr/lib/python2.7/xmlrpclib.py", line 1482, in parse_response
return u.close()
File "/usr/lib/python2.7/xmlrpclib.py", line 794, in close
raise Fault(**self._stack[0])
Fault: <Fault -1: 'publisherUpdate: unknown method name'>
Here are the files I am using to configure.
<launch> <node pkg="amcl" type="amcl" name="amcl" output="screen"> <!-- Publish scans from best pose at a max of 10 Hz --> <param name="odom_model_type" value="diff"/> <param name="odom_alpha5" value="0.1"/> <!-- param name="transform_tolerance" value="0.2" / --> <param name="transform_tolerance" value="0.5" /> <!-- param name="gui_publish_rate" value="10.0"/ --> <param name="gui_publish_rate" value="3.0"/> <!-- param name="laser_max_beams" value="30"/ --> <param name="laser_max_beams" value="60"/> <param name="min_particles" value="500"/> <param name="max_particles" value="5000"/> <param name="kld_err" value="0.05"/> <param name="kld_z" value="0.99"/> <param name="odom_alpha1" value="0.2"/> <param name="odom_alpha2" value="0.2"/> <!-- translation std dev, m --> <param name="odom_alpha3" value="0.8"/> <param name="odom_alpha4" value="0.2"/> <param name="laser_z_hit" value="0.5"/> <param name="laser_z_short" value="0.05"/> <param name="laser_z_max" value="0.05"/> <param name="laser_z_rand" value="0.5"/> <param name="laser_sigma_hit" value="0.2"/> <param name="laser_lambda_short" value="0.1"/> <param name="laser_lambda_short" value="0.1"/> <param name="laser_model_type" value="likelihood_field"/> <!-- --> <param name="laser_likelihood_max_dist" value="2.0"/> <param name="update_min_d" value="0.2"/> <param name="update_min_a" value="0.5"/> <param name="odom_frame_id" value="odom"/> <param name="resample_interval" value="1"/> <!-- param name="transform_tolerance" value="0.1"/ --> <param name="transform_tolerance" value="0.2"/> <param name="recovery_alpha_slow" value="0.0"/> <param name="recovery_alpha_fast" value="0.0"/> </node> </launch>
local_base_planner_params yaml file
TrajectoryPlannerROS: max_vel_x: 0.1 min_vel_x: 0.005 max_vel_theta: 0.8 min_in_place_vel_theta: 0.05 acc_lim_theta: 3.2 acc_lim_x: 2.5 acc_lim_y: 2.5 escape_vel: -0.1 holonomic_robot: false latch_xy_goal_tolerance: false meter_scoring: true # pdist_scale: 0.6 pdist_scale: 0.8 gdist_scale: 0.8 occdist_scale: 0.01 # heading_lookahead: 0.325 heading_lookahead: 0.5 heading_scoring: false heading_scoring_timestep: 0.8 dwa: true publish_cost_grid_pc: true global_frame_id: odom oscillation_reset_dist: 0.05 prune_plan: true
costmap_common_params yaml file
obstacle_range: 2.5
raytrace_range: 5.0
footprint: [[0, 0.200], [0, -0.200], [0.200, 0]]
robot_radius: 0.200
inflation_radius: 0.3
transform_tolerance: 0.7
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
Global_costmap_params yaml file
global_costmap: global_frame: /map robot_base_frame: base_link update_frequency: 3.0 static_map: true
local_costmap_params yaml file
local_costmap: global_frame: odom robot_base_frame: base_link update_frequency: 3.0 publish_frequency: 2.0 static_map: false rolling_window: true width: 6.0 height: 6.0 resolution: 0.05
I really appreciate any help. I've been fighting this for several days.
Originally posted by billy on ROS Answers with karma: 1850 on 2016-06-16
Post score: 1