Hi, I'm using a rosbot and I made a map with gmapping, now I want to run amcl and move_base for autonomus movement. My problem is that local costmap is empty because move_base doesn't subscribe to laser scan topic and it doesn't mark the obstacles.
launch:
<launch>
<node pkg="controller" type="ros-core2-client" name="serial_node" output="screen">
<param name="baud" value="57600"/>
<param name="port" value="/dev/ttyS1"/>
</node>
<arg name="map_file" default="$(find slam_setup)/maps/mapaIngIndustrial.yaml"/>
<node pkg="slam_setup" type="slam_setup_node" name="tf_odom_baselink"/>
<node pkg="tf" type="static_transform_publisher" name="laser_broadcaster"
args="0 0 0 3.14 0 0 base_link laser_frame 100" />
<node pkg="rplidar_ros" type="rplidarNode" name="rplidar"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<param name="odom_frame_id" value="odom"/>
<param name="odom_model_type" value="diff-corrected"/>
<param name="base_frame_id" value="base_link"/>
<param name="update_min_d" value="0.1"/>
<param name="update_min_a" value="0.1"/>
<param name="min_particles" value="250"/>
<param name="max_particles" value="600"/>
<param name="recovery_alpha_fast" value="0.1"/>
<param name="odom_alpha1" value="0.2"/>
<param name="odom_alpha2" value="0.2"/>
<param name="odom_alpha3" value="0.2"/>
<param name="odom_alpha4" value="0.2"/>
<param name="use_map_topic" value="true"/>
<param name="save_pose_rate" value="10"/>
<param name="initial_pos_x" value="10.0"/>
<param name="initial_pos_y" value="10.0"/>
<param name="initial_cov_yy" value="100.0"/>
<param name="initial_cov_xx" value="100.0"/>
<param name="transform_tolerance" value="0.3"/>
</node>
<node pkg="move_base" type="move_base" name="move_base" output="screen">
<param name="controller_frequency" value="10.0"/>
<rosparam file="$(find rosbot_nav)/parametros/costmap_common_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find rosbot_nav)/parametros/costmap_common_params.yaml" command="load" ns="local_costmap"/>
<rosparam file="$(find rosbot_nav)/parametros/local_costmap_params.yaml" command="load" />
<rosparam file="$(find rosbot_nav)/parametros/global_costmap_params.yaml" command="load"/>
<rosparam file="$(find rosbot_nav)/parametros/trajectory_planner.yaml" command="load"/>
</node>
</launch>
costmap params:
common params:
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.15,0.15],[0.15,-0.15],[-0.15,-0.15],[-0.15,0.15]]
inflation_radius: 0.4
map_topic: map
resolution: 0.15
subscribe_to_updates: true
transform_tolerance: 0.2
obsevation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser_frame, data_type: LaserScan, topic: scan, clearing: true, marking: true}
local_costmap:
update_frecuency: 5.0
publish_frecuency: 1.0
static_map: false
rolling_window: true
width: 3.0
heigth: 3.0
global_frame: odom
robot_base_frame: base_link
global_costmap:
update_frequency: 2.5
static_map: true
rolling_window: false
global_frame: map
robot_base_frame: base_link
TrajectoryPlannerROS:
max_vel_theta: 0.5
acc_lim_theta: 0.25
holonomic_robot: false
meter_scoring: true
xy_goal_tolerance: 0.30
yaw_goal_tolerance: 0.25
controller_frequency: 10.0
global_frame_id: map
sim_time: 2.0
sim_granularity: 0.05
occdist_scale: 0.04
pdist_scale: 0.3
publish_cost_grid_pc: true
dwa: true
I'm using ubuntu 16 and Ros Kinetic.
Now I include range sensor and move_base subscribe them with /tf, but doesn't subscribe to the laser. The local costmap is empty because It doesn't detect the obstacles. The laser and range sensor are working properly, I can see them in rviz.
rosnode info /move_base
Node [/move_base]
Publications:
* /cmd_vel [geometry_msgs/Twist]
* /move_base/NavfnROS/plan [nav_msgs/Path]
* /move_base/TrajectoryPlannerROS/cost_cloud [sensor_msgs/PointCloud2]
* /move_base/TrajectoryPlannerROS/global_plan [nav_msgs/Path]
* /move_base/TrajectoryPlannerROS/local_plan [nav_msgs/Path]
* /move_base/TrajectoryPlannerROS/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/TrajectoryPlannerROS/parameter_updates [dynamic_reconfigure/Config]
* /move_base/current_goal [geometry_msgs/PoseStamped]
* /move_base/feedback [move_base_msgs/MoveBaseActionFeedback]
* /move_base/global_costmap/costmap [nav_msgs/OccupancyGrid]
* /move_base/global_costmap/costmap_updates [map_msgs/OccupancyGridUpdate]
* /move_base/global_costmap/footprint [geometry_msgs/PolygonStamped]
* /move_base/global_costmap/inflation_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/global_costmap/inflation_layer/parameter_updates [dynamic_reconfigure/Config]
* /move_base/global_costmap/obstacle_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/global_costmap/obstacle_layer/parameter_updates [dynamic_reconfigure/Config]
* /move_base/global_costmap/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/global_costmap/parameter_updates [dynamic_reconfigure/Config]
* /move_base/global_costmap/static_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/global_costmap/static_layer/parameter_updates [dynamic_reconfigure/Config]
* /move_base/goal [move_base_msgs/MoveBaseActionGoal]
* /move_base/local_costmap/costmap [nav_msgs/OccupancyGrid]
* /move_base/local_costmap/costmap_updates [map_msgs/OccupancyGridUpdate]
* /move_base/local_costmap/footprint [geometry_msgs/PolygonStamped]
* /move_base/local_costmap/inflation_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/local_costmap/inflation_layer/parameter_updates [dynamic_reconfigure/Config]
* /move_base/local_costmap/obstacle_layer/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/local_costmap/obstacle_layer/parameter_updates [dynamic_reconfigure/Config]
* /move_base/local_costmap/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/local_costmap/parameter_updates [dynamic_reconfigure/Config]
* /move_base/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /move_base/parameter_updates [dynamic_reconfigure/Config]
* /move_base/result [move_base_msgs/MoveBaseActionResult]
* /move_base/status [actionlib_msgs/GoalStatusArray]
* /rosout [rosgraph_msgs/Log]
Subscriptions:
* /map [nav_msgs/OccupancyGrid]
* /move_base/cancel [unknown type]
* /move_base/global_costmap/footprint [geometry_msgs/PolygonStamped]
* /move_base/goal [move_base_msgs/MoveBaseActionGoal]
* /move_base/local_costmap/footprint [geometry_msgs/PolygonStamped]
* /move_base_simple/goal [geometry_msgs/PoseStamped]
* /odom [unknown type]
* /tf [tf2_msgs/TFMessage]
* /tf_static [unknown type]
Services:
* /move_base/NavfnROS/make_plan
* /move_base/TrajectoryPlannerROS/set_parameters
* /move_base/clear_costmaps
* /move_base/get_loggers
* /move_base/global_costmap/inflation_layer/set_parameters
* /move_base/global_costmap/obstacle_layer/set_parameters
* /move_base/global_costmap/set_parameters
* /move_base/global_costmap/static_layer/set_parameters
* /move_base/local_costmap/inflation_layer/set_parameters
* /move_base/local_costmap/obstacle_layer/set_parameters
* /move_base/local_costmap/set_parameters
* /move_base/make_plan
* /move_base/set_logger_level
* /move_base/set_parameters
contacting node http://rosbot-2249:41012/ ...
Pid: 1585
Connections:
* topic: /rosout
* to: /rosout
* direction: outbound
* transport: TCPROS
* topic: /cmd_vel
* to: /serial_node
* direction: outbound
* transport: TCPROS
* topic: /move_base/goal
* to: /move_base
* direction: outbound
* transport: INTRAPROCESS
* topic: /move_base/local_costmap/costmap
* to: /rviz
* direction: outbound
* transport: TCPROS
* topic: /move_base/local_costmap/costmap_updates
* to: /rviz
* direction: outbound
* transport: TCPROS
* topic: /move_base/TrajectoryPlannerROS/global_plan
* to: /rviz
* direction: outbound
* transport: TCPROS
* topic: /move_base/TrajectoryPlannerROS/local_plan
* to: /rviz
* direction: outbound
* transport: TCPROS
* topic: /tf
* to: /laser_broadcaster (http://rosbot-2249:44713/)
* direction: inbound
* transport: TCPROS
* topic: /tf
* to: /IFRR_Sensor (http://rosbot-2249:41702/)
* direction: inbound
* transport: TCPROS
* topic: /tf
* to: /IFFL_Sensor (http://rosbot-2249:38605/)
* direction: inbound
* transport: TCPROS
* topic: /tf
* to: /IFFR_Sensor (http://rosbot-2249:39743/)
* direction: inbound
* transport: TCPROS
* topic: /tf
* to: /IFRL_Sensor (http://rosbot-2249:32818/)
* direction: inbound
* transport: TCPROS
* topic: /tf
* to: /amcl (http://rosbot-2249:34436/)
* direction: inbound
* transport: TCPROS
* topic: /tf
* to: /tf_odom_baselink (http://rosbot-2249:45737/)
* direction: inbound
* transport: TCPROS
* topic: /move_base_simple/goal
* to: /rviz (http://diego-HP-Pavilion-Power-Laptop-15-cb0xx:42429/)
* direction: inbound
* transport: TCPROS
* topic: /map
* to: /map_server (http://rosbot-2249:39849/)
* direction: inbound
* transport: TCPROS
* topic: /move_base/goal
* to: /move_base (http://rosbot-2249:41012/)
* direction: inbound
* transport: INTRAPROCESS
My rqt_graph:
[IMG]http://i68.tinypic.com/k9z6sj.png[/IMG]
![http://i68.tinypic.com/k9z6sj.png[/IMG]](http://i68.tinypic.com/k9z6sj.png%5B/IMG%5D){kind=link}
Originally posted by Diego_Perez on ROS Answers with karma: 28 on 2018-08-01
Post score: 0
Original comments
Comment by David Lu on 2018-08-01:
Can you please post the output of rosnode info /move_base
Comment by Diego_Perez on 2018-08-02:
I edit my question with the outpout, thanks.