Questions tagged [move-base]

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ROS/ROS2 mapping and path following with skid-steering robot and Velodyne 3D laser

I built a skid-steering robot and I would like to implement a path-following application. I would like to use the Velodyne to create the map and then specify a path on it to be followed by the robot. ...
Marcus Barnet's user avatar
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robot moving backwards when the 2d_Nav_goal set behind the robot

my 4wheel_bot is moving backwards when i set the goal behind the robot in rviz, but it reaches the goal tho. I did not notice this kinda behavior in any robot, normally it rotates and pursuit the goal ...
Vasanth's user avatar
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Segmentation fault when using move_base rotate_recovery

Summary: In a rotate_recovery behavior called by move_base, the following code is telling me that getRobotFootprint() has an impossibly big size, and I get a segmentation fault when accessing the ...
someguy's user avatar
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My ros topic can't echo any info

My code of node is following ...
young very's user avatar
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move_base state for FlexBE

I'm trying to build robot high-level control using FlexBE behavior engine The task is to make robot to move through the list of waypoints. The project is on ROS 1, I'm using move_base package for ...
marrgrate's user avatar
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How to Integrate a Custom Global Planner with Move_base for Dynamic Path Generation?

I've developed a custom global planner for a ROS project, which dynamically generates new paths based on certain conditions. This means that the global planner continuously produces new paths during ...
就走吧's user avatar
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How to make global costmap larger in slam_karto: goal sent to the navfn planner is off the global costmap

I am trying to send a 2D nav goal to the navigation stack of my turtlebot3, which is running slam_karto. The problem is that the global costmap is taken to be the map topic. The map topic's occupancy ...
hunterlineage's user avatar
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91 views

Can TEB or Other Local Planners Work Without move_base?

I am working on path planning and path tracking for a while and I wonder, can TEB local planner (or any other local planner on ROS, DWA lets say) function without move_base? I mean do I have to use ...
Alperen Keser's user avatar
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2 answers
216 views

How can I calculate the static transform between 2 coordinate frames?

I have a list of poses that I'm trying to publish after converting into the 'map' coordinate frame of reference. I understand that this is done with the help of tf/static_transform_publisher, however ...
user36184's user avatar
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1 answer
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No map received in rviz

Iam trying to launch the amcl.launch file with MapServer node. and I have taken the map with octomap and want to visualize the map in 3d. so I have created a launch file for that. but i am getting ...
Uday Kumar's user avatar
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move_base with multiple robots running gmapping SLAM on turtlebot3

I am trying to run move_base nodes for each of 3 turtlebot3s in ROS melodic and gazebo9. My approach is taken mainly from the "Multiple robots simulation and navigation" answer which gives ...
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move_base doesn't send cmd_vel

Hello I'm working on 4 wheels robot and I use libgazebo_ros_skid_steer_drive.so as a controller now in the navigation stack whenI show the rqt graph I found that ...
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navigation move_base action package with constantly changing goal

Hello, I'm newbie to this field and I'd like to use the move_base package for the navigation of robot to track people. However, as the move_base package is using action, not a topic, (I think) it is ...
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1 answer
135 views

[Noetic, Rtabmap, move_base]I cannot resolve the error "The robot's start position is off the global costmap."

I have set the robot's target point and orientation in "2D Nav Goal" in RViz and am trying to run the robot to the target point, but I get the following error message. ...
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[ERROR] : Called wait_for_result when no goal exists

This is terminal output: ...
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1 answer
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Costmap doesn't consider laser beams behind the robot (only when the laser frame is flipped upside down)

Hello everyone, I'm currently implementing the navstack on my robot and I have a problem with the generation of my costmaps : I use the obstacle layer plugin to make dynamic obstacles from the LiDAR ...
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1 answer
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dynamic_reconfigure included in global planner slow down TEB

As title. I have my own global planner, and in some situation I want to dynamically reconfigure the navigation parameters. For example, once planner gets navigation goal and parameter information, it ...
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Teb Local Planner Weight Parameters

I am working on teb local planner but i didn't understand what weight parameters really do? Can someone briefly summarize please? Originally posted by anonymous60874 on ROS Answers with karma: 1 on ...
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No laser scan received (and thus no pose updates have been published) for 18.974000 seconds. Verify that data is being published on the /scan topic

Hi all, i already searched this question on all over answers.ros.org, but i didnt found answer on the issue i have. I built a custom 4 wheel bot and i added a navigation stack(map, move_base, amcl and ...
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2 answers
20 views

Is it okay to use ROS Navigation Stack for a heavy(200kg +) robot?

Hello, I wanted to know if we can use the amcl, move_base along with existing planners like TEB and cost maps plugins for a robot weighing 200+ kgs? I intend to operate the robot at an average ...
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1 answer
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move_base goal_tolerance has no effect

I'm trying to set up the navigation stack and was experimenting with the goal_tolerance parameters. I set the following in my launch file: xy_goal_tolerance: 300.0 yaw_goal_tolerance: 300.0 ...
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NVIDIA Jetbot is not moving using /cmd_vel

Hello. I have tried to move real Jetbot using ROS terminal commands, but they do not work. I'm using remote control with SSH, and the connection is stable when I'm using gmapping and ...
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1 answer
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How to update the occupancy grid of the rviz map with another map?

Hi! I am using local_costmap (not the raw laser scan data) as an input to a model, from which I receive another map, let's call it mapX. Now, I want that the robot navigates using the information from ...
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2 answers
45 views

Laser Scanner Rotation when the robot is moving

Hello there everyone, I am running into an issue with the navigation stack with move base and AMCL in ROS. The issue is, every time the robot rotates by a certain degree, the laser also rotates and ...
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2 answers
6 views

How to verify correct actionlib.SimpleActionClient setup?

I am trying to create a SimpleActionClient in my Python service node using the following lines of code: ...
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1 answer
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How can I restart move_base server?

Sometimes I will encounter such a problem: due to the positioning error of AMCL, during the execution of the target sent to move_base, the robot will be considered to collide with an obstacle or get ...
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1 answer
7 views

Make global path update correctly when it is invalid

/** * Segment 1: If global path is invalid, update the global path **/ ...
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1 answer
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is URDF usefull in real robot?

I am building a robot and want to ask if urdf file is important when comes to navigation and mapping in real world. Originally posted by offgrid8 on ROS Answers with karma: 13 on 2021-12-19 Post ...
offgrid8's user avatar
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Move_base doesn't subscribe to "/scan" topic from RpLidar

Greetings, I'm trying to configure move_base on a Jetson Nano board (Ubuntu 18.04, ROS Melodic) equipped with an RpLidar and ZED2 camera. The RpLidar provides the "/scan" topic which updates ...
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2 answers
19 views

Sending my own path to ROS Navigation stack, Where can I locate the 'internal' nav_msgs/Path in the code?

Does anyone know where I can find this 'internal' nav_msgs/Path in the code of the ROS Navigation stack? Is it move_base.cpp? navfn_node.cpp? trajectory_planner_ros.cpp? Originally posted by ...
Pheh Jing Jie 'JJ' 彭靖杰's user avatar
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how to edit move_base in turtlebot3 to not use dijkstra and use other algorithms like A* search or carrot planner

I am new to ROS and I recently learned about the navigation stack and SLAM on turtlebot3. The regular navfn of turtlebot3 uses dijkstra algorithm. By simply setting the ...
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1 answer
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move_base obstacle clearing in open field problem

Hi, A project I am working on involves the use of a mobile robot in an open field using move_base to navigate autonomously and avoiding obstacles. The obstacles in the costmaps only get cleared with ...
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How to use/activate move_slow_and_clear?

I want to use move_slow_and_clear recovery behavior but there is very limited documentation on it. Could someone help me with the setup required to activate or use the recovery behaviour? Originally ...
jash's user avatar
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1 answer
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pose of odom frame chainging in navigation

When i run the navigation stack i saw that map link is fixed on given map but the odom frame is changing dynamically when robot moves. Considering that odom frame is the initial position from which ...
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1 answer
14 views

move base for omni?

Hello i am trying to control the omni or mechanum wheels with the move base for autonomous navigation. But as i saw that move base only suppports the diff drive wheels. Is it possible to use move base ...
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1 answer
2 views

unable to integrate local planner plugin into move_base

I am trying to integrate my local path planner plugin into move_base. On launching the modified ...
skpro19's user avatar
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1 answer
6 views

Custom Global Planner causing problems - undefined symbol

I just created a CopyPlanner as a custom Global Planner (following this tutorial) that copies a plan from elsewhere and passes it on to the local planner. Every time I try using it as part of my ...
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1 answer
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Is it possible for the global planner in move_base to copy an already made plan?

I understand from the nav_core::BaseGlobalPLanner class that MakePlan() needs a goal, and a starting point and will fill the ...
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1 answer
25 views

move_base won't subscribe to /scan topic

I am publishing laser scan data from another framework, but move_base won't subscribe to it. I know it is being published from rostopic echo scan. The sensor frame ...
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1 answer
15 views

How to use move_base Action API with a navigation goals subscriber

I try to get the navigation goal points from a subscriber that identifies them through lidar. In particular I use the lidar to get the corners of a wall and my aim is to navigate close to the corner. ...
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1 answer
12 views

Adjusting cmd_vel linear.y value published by move_base

I have the following action-client code which I use to send a pose to move_base which inturn moves my robot model. ...
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1 answer
88 views

move_base global costmap is not updated when removing an object/obstacle from the environment

Hello everyone! I am currently working on a project using the ROS 1 navigation stack and for the past few weeks I have been struggling with this issue regarding the proper updating of move_base's ...
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1 answer
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Obstacles in camera blind spot are cleared from local costmap

I'm trying to implement obstacle avoidance using move_base package on ROS 1 Melodic. Current issue is that when the robot approaches a short obstacle, the obstacle is first correctly drawn to local ...
jannkar's user avatar
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1 answer
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How to correct the pose during navigation?

I am using ubuntu 16.04.I have a real robot with lidar, ultrasound and camera now . And i am using move_ base package for navigation. The robot is a four-wheel drive robot(with Mecanum wheels). ...
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1 answer
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"map update loop missed" happen frequently when robot path plan and run

Hello, My robot is planning path and controlling velocity with move_base. In many cases, it seems to be working properly. However, there were times when it suddenly started rotating in place or ...
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1 answer
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clear_costamps recovery clear only one layer

Hi, is it possible to configure the clear costmaps recovery to only clear one specific layer in both? I found the following question in the forum here but cant get it to work. I don't even know howto ...
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1 answer
29 views

rolling window global costmap borders are marked as obstacles

Hi, i am trying to get a rolling window global costmap. I know that this is highly uncommon, but in my usecase it would be extremely beneficial if the global costmap wouldn't keep anything for ever. (...
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1 answer
15 views

update_frequency vs publish_frequency (costmap parameters)

I have a costmap_common.yaml file which has update_frequency and publish_frequency ...
skpro19's user avatar
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0 votes
1 answer
49 views

move_base generating path in unknown space

Hi, I am trying to use ROS navigation stack with RPlidar A2. currently, I am running gmapping with move_base and ...
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2 answers
86 views

move_base local planner deviates significantly from global planner path

Hi ROS community, I am in need for some help with a project involving the use of move_base package with Ubuntu 16.04, ROS Kinetic. I have looked through most of the other issues with move_base that ...
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