Hi there,
why is this happening after I send a nav goal?
<launch>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find amcl)/rviz/amcl.rviz"/>
<!-- Map server -->
<arg name="map_file" default="$(find amcl)/maps/test_map.yaml"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
<node pkg="amcl" type="amcl" name="amcl">
<!-- Publish scans from best pose at a max of 10 Hz -->
<remap from="scan" to="scan_multi"/>
<param name="odom_model_type" value="omni"/>
<param name="base_frame_id" value="base_footprint"/>
<param name="update_min_d" value="0.5"/>
<param name="update_min_a" value="1.0"/>
<param name="odom_alpha5" value="0.1"/>
<param name="transform_tolerance" value="0.2" />
<param name="gui_publish_rate" value="10.0"/>
<param name="laser_max_beams" value="30"/>
<param name="min_particles" value="500"/>
<param name="max_particles" value="5000"/>
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="odom_alpha1" value="0.2"/>
<param name="odom_alpha2" value="0.2"/>
<!-- translation std dev, m -->
<param name="odom_alpha3" value="0.8"/>
<param name="odom_alpha4" value="0.2"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_model_type" value="likelihood_field"/>
<!-- <param name="laser_model_type" value="beam"/> -->
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="update_min_d" value="0.2"/>
<param name="update_min_a" value="0.5"/>
<param name="odom_frame_id" value="odom"/>
<param name="resample_interval" value="1"/>
<param name="transform_tolerance" value="0.3"/>
<param name="recovery_alpha_slow" value="0.0"/>
<param name="recovery_alpha_fast" value="0.0"/>
</node>
<!-- Move base -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find amcl)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find amcl)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find amcl)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find amcl)/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find amcl)/config/trajectory_planner.yaml" command="load" />
<remap from="cmd_vel" to="cmd_vel"/>
<remap from="odom" to="odom"/>
<remap from="scan" to="scan_multi"/>
<param name="move_base/DWAPlannerROS/yaw_goal_tolerance" value="1.0"/>
<param name="move_base/DWAPlannerROS/xy_goal_tolerance" value="1.0"/>
</node>
</launch>
global_costmap:
global_frame: map
robot_base_frame: base_footprint
update_frequency: 5.0
publish_frequency: 2.0
width: 15
height: 15
rolling_window: true
inflation_radius: 0.1
resolution: 0.1
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
local_costmap:
global_frame: odom
robot_base_frame: base_footprint
update_frequency: 5
publish_frequency: 5
rolling_window: true
width: 3
height: 3
resolution: 0.1
inflation_radius: 0.1
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
costmap_common params:
obstacle_range: 2.5
raytrace_range: 3.0
robot radius: 0.5
map_topic: map
subscribe_to_updates: true
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: base_link, data_type: LaserScan, topic: scan_multi, marking: true, clearing: true}
global_frame: map
robot_base_frame: base_footprint
always_send_full_costmap: true
footprint_padding: 0.1
update_frequency: 4
publish_frequency: 0.5
inflation_radius: 0.1
Originally posted by al_ca on ROS Answers with karma: 79 on 2020-11-13
Post score: 0
Original comments
Comment by al_ca on 2020-11-13:
and how can I display right this XML file?
Comment by chfritz on 2020-11-13:
can you show your local costmap params? How big of a local map are you using? It's entirely possible that your computer indeed can't handle 20Hz, especially if using a large-ish local map.
Comment by al_ca on 2020-11-14:
Here you are, I updated my post. Where can I see the size of the map?
Comment by billy on 2020-11-14:
How fast does your odom come in?
Laser scan?
Comment by al_ca on 2020-11-15:
I updated my question... I forgot to mention that I am running a simulation if that helps. From what I see odom is 16.847 Hz and the laser scans are 10k Hz.
Comment by chfritz on 2020-11-15:
Do you need 20Hz? If not, I would just reduce it to 10Hz (presumably in trajectory_planner).
Comment by billy on 2020-11-15:
I suspect you mean the data rate is 10kHz, but what is scan rate? How many laser scan messages published in ROS a second?
Comment by jj_in on 2020-11-17:
There is no parameter to set the trajectory planner freequency
DWAPlannerROS:
path_distance_bias: 80.0
TrajectoryPlannerROS:
max_vel_x: 0.4
min_vel_x: -0.4
max_vel_theta: 10.0
min_vel_theta: -7.0
min_in_place_vel_theta: 10
acc_lim_theta: 2.5
acc_lim_x: 2.5
acc_lim_y: 2.5
holonomic_robot: false