I know that similar question were already asked here but there is no solution to my problem. I run **navigation on several turtlebots** using one **shareable map**. However, I have encountered a problem setting up different namespaces and tf_prefixes for each robot. I always get a warning that there is **no transformation between robot_0/base_footprint and map**. However, when I try to set the static transformation between **robot_0/odom** and **map** frames (these 2 frames are fixed; therefore I though that static transformation should work), I get the following warning "**MessageFilter [target=map ]: Dropped 100.00% of messages so far. Please turn the [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for more information.**" As a result I am not able to send any goal (e.g. going from point A to point B) even though the tree is right (map->robot_0/odom->robot_0/base_footprint->robot_0/base_link->...). I am pretty sure that someone already had similar problems. Could someone please help me, I have been working on this problem for a week but still couldn't find a solution. Here is my launch file:
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Multiple Robot Navigation
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move_base without global planner
Hello,
Can I use move_base without global_planner? If yes how do I disable it?
Thank you
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Simple move_base example without sensors?
I have a small, custom robot. I'm trying to learn the ROS navigation stack in this order:
1. Set up my robot to move by teleoperation and publish odometry. (DONE)
2. Use move_base to drive to a goal position (/move_base_simple/goal) assuming no obstacles and using no sensors.
3. Add sensors and obstacle avoidance with no a priori map.
4. Use gmapping to generate a map.
I'm stuck on #2 right now. I've tried to use a global configuration that has "rolling_window: true" and "static_map: false", as suggested, but move_base seems to go into recovery modes right away. (Local configuration is similar.) Can someone point me to an example of using move_base with neither a static map nor sensors? Or tell me how to figure out why a recovery mode is being triggered?
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base_local_planner simplest navigation (no curve lines)
hi there,
i'm pretty new to ros world and i want my robot to navigate only straight+inplace rotation. I noticed that with base_local_planner the robot start to go navigate forward before finishing the orientation. How can i accomplish this goal?
thanks in advance
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Visualize all calculated trajectories in RViz
Hi,
before a local planner chooses a best trajectory, it calculates a lot and compares them. Is there any chance to visualize all of the generated trajectories in RViz to see what's happening and how different parameters influence the calculation?
I was thinking about modifying the local planner and add a publisher which advertises all calculated trajectories, but I don't know if that would be a good way. Any ideas?
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Navigation stack, where to set controller_frequency?
I feel silly asking this, but where do I set the controller frequency for move_base when using the navigation stack?
I have the navigation stack running and robot can be commanded from one place to another. It's not elegant or smooth so now I am trying to tune it.
The default value for controller_frequency is 20.0 but I'd like to set it to lower as I don't even get odometry at 20Hz, much less the lidar data. It makes no sense to send commands faster than odom comes in. I get the warning "Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.2001 seconds"
For test I have tried "controller_frequency: 15.0" in the **move_base.launch** and the **base_local_planner_params.yaml** files, but still get warning that control loop doesn't achieve 20.0Hz, so I know the setting at 15.0 isn't working.
Don't get me wrong, I do not care about the warning, but the warning makes it clear that the way I am trying to set it isn't working. Once I figure out how to set it I will find the exact value that works best.
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Mobile robot with fixed kinect - Navigation with/without AMCL?
Hi!
Currently I have a dif_wheeled_robot and a kinect inside Gazebo (these are separate "robots", not connected by any joint). The diff_wheeled_robot has it's own scanner, has an AMCL launch made etc. I can navigate it around, and while moving if I put an obstacle in front of it, it will go around it.
The kinect has a depthimage_to_laserscan node, so it's basically a laser scanner.
My goal is to make the diff_wheeled use the kinect's scan data to navigate instead of it's own hokuyo scanner, which is attached to it.
(basically I want to navigate the robot around, but with a scanner that's in a fixed position. In reality I can't put the kinect on my robot, but I still want my robot to avoid (dynamic) obstacles based on what the kinect sees).
AMCL wants scan data from the /scan topic, and that part is alright, the kinect sends data on that topic.
The problem is, the AMCL wants a base_frame_id and an odom_frame_id, so it can connect the robot frame to the odom, and do it's computing and stuff, but my kinect isn't connected to either of these.
(in the tf tree, the diff_wheeled_robot and the kinect is separate. The diff_wheeled_robot's base_footprint connects to the odom, and that connects to the map. The kinect's root ends at it's own base_footprint_kinect)
If I disable the diff_wheeled's hokuyo, then the AMCL will throw this:
[ WARN] [1469782994.436635986, 36.386000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.103 timeout was 0.1.
My question:
Is it possible to use AMCL/Gmapping and navigation with a mobile robot and a detached/fixed kinect (not fixed to the mobile robot)?
If yes, how?
If no, then am I able to use the ros move_base navigation without AMCL? (so use navigation and collision avoidance with the same setup, on the fly. The obstacles are not static)
Than you.
Update #1: Okay, it seems like not the AMCL is the one throwing the warning, but the move_base. Still, no idea how to solve it. Maybe the better question is, can I use move_base with my setup?
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Move base for autonomous driving
Hi,
This may be a very subjective question but is it a good idea to use move base for autonomous driving ? I have used move base with a robotic wheel chair that I developed and it works great. I have also used it on Husky and Turtlebot but we are not sure if we should use it for a car which is running at a higher speed compared to these indoor robot. In the outdoor scenario we have to generate the trajectory and compute collisions significantly faster then the indoor scenario. Any suggestions/comments or Experience of using move base here would be really helpful.
Thanks.
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Under what circumstances will actionlib not mark a MoveBaseGoal as successful?
I'm using a [SimpleActionClient](http://wiki.ros.org/actionlib_tutorials/Tutorials/Writing%20a%20Simple%20Action%20Client%20(Python)) to issue MoveBaseGoals to an instance of [/move_base](http://wiki.ros.org/move_base) in a flat outdoor environment. If I have the "xy_tolerance" parameter for [base_local_planner](http://wiki.ros.org/base_local_planner?distro=kinetic) set to ~0.35m or larger then everything works well without any problems. However, If I reduce the tolerance to 0.25m in an effort to improve navigational accuracy, actionlib stops recognising that it has successfully reached the goal - even if it is repeatably within this tolerance in both the X,Y and Z axis (not that there is a vertical tolerance from what I understand). See below for an example bag file
In this case, the state of the goal remains stuck on '1' (labelled as ACTIVE) and will remain that way indefinitely until I manually cancel it.
So my question is: since all I have changed to cause this behaviour is "xy_tolerance", are there any hidden conditions that must be fulfilled for actionlib to move the state from 1 (ACTIVE) to 3 (SUCCEEDED) other than getting the robot within this distance of the goal point? Or am I likely just hitting the limit on how accurate ROS can be in an outdoor environment? The GPS I'm using is accurate to 20mm, as is the global fused data (verified experimentally).
I'm aware that there are a few other questions that address this issue. However, for the most part they seem to experience this problem regardless, whereas I only see it if I lower "xy_tolerance". So I believe the causes may be different.
Any help or advice is appreciated.
## System Information ##
- **OS:** Ubuntu 14.04 (laptop), ROS Indigo Igloo (robot)
- **Robot:** Clearpath Robotics Jackal UGV (real, not simulated)
- **Sensors:** IMU, wheel encoders, high accuracy RTK GPS
- **Localization:** package used is [robot_localization](http://wiki.ros.org/robot_localization). IMU and encoder data is fused in the /odom frame. IMU, encoder and GPS data is fused in the /map frame - this is the frame /move_base uses for navigation. I can provide the specific launch files if requested.
- **Navigation:** I use the [jackal_navigation](http://wiki.ros.org/jackal_navigation) package (version 2.2.2) to set up my navigation stack. I use the [odom_navigation_demo.launch](https://github.com/jackal/jackal/blob/indigo-devel/jackal_navigation/launch/odom_navigation_demo.launch) file with the only changes being that I've changed "xy_tolerance" as described above, and increased the size of my costmap to 120x120m. I've also written my own SimpleActionClient which I use to issue move goals in the /map frame.
- **Frame tree:** [tree](https://drive.google.com/open?id=0B1KZT92BcdVNYlZTT1JUc0VBYW8)
- **Example of error:** [example_data.bag](https://drive.google.com/open?id=0B1KZT92BcdVNSGRiNEpTeUFmelE), I can provide an example of working data if requested.
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[move_base] want to completely follow the global path
Dear all,
I am using move_base for my robot navigation,
and following the [tuning tutorial](http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide) to adjust my yaml file which used in base_local_planner.
ex:
pdist_scale:1.0
gdist_scale:0.5
But my local plan path is doesn't not follow the global path completely.
Is there any advice for tunning these parameter?
EX: rotate to direction first. [Demo video of completely follow the global path](https://www.youtube.com/watch?v=j8OYlSZcqMc)
I am using move_base for my robot navigation,
and following the [tuning tutorial](http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide) to adjust my yaml file which used in base_local_planner.
ex:
pdist_scale:1.0
gdist_scale:0.5
But my local plan path is doesn't not follow the global path completely.
Is there any advice for tunning these parameter?
EX: rotate to direction first. [Demo video of completely follow the global path](https://www.youtube.com/watch?v=j8OYlSZcqMc)
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problem of adding the range_sensor_layer to costmap_2D plugins
I am a fresh man to ROS system.I bulid a robot platfom use ros. i use move_base in my systerm.
I have a laser scan and some ultrasonic sensors in my systerm,but for using the ultrasonic sensor i got some problem.
i dont konw how to add the range_sensor_layer as a costmap plugins.
i tried just add
In costmap_common_params.yaml
add the layer of ultrasonic
ultrasonic_layer: enabled: true max_obstacle_height: 0.4 origin_z: 0.0 z_resolution: 0.2 z_voxels: 2 unknown_threshold: 15 mark_threshold: 0 combination_method: 1 track_unknown_space: true #true needed for disabling globalpath planning through unknown space obstacle_range: 1.0 raytrace_range: 3.0 publish_voxel_map: false observation_sources: ultrasonic ultrasonic: data_type: Range topic: ultrasonic marking: true clearing: true>pre In local_costmap_params.yaml likeplugins: - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - {name: ultrasonic, type: "range_sensor_layer::RangeSensorLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"}but when i run the move base i got some error said: "range_sensor_layer::RangeSensorLayer" is not surported by the plugin . i can get the range informations using :$rostopic echo ultrasonicdid i missed something? or did i do somrthing wrong? and can anybody tell me the correct way to use the range_sensor_layer as a plugin? thanks a lot
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Clearing costmap to unstuck robot (3.000000m)
I've been banging my head against this navigation problem for days. It occurs under both ROS Indigo and ROS Hydro (Debian installs). And it occurs with both a Kobuki and a Segway RMP 210 both in Gazebo and the real world. At the moment, both robots are using a single planar laser scanner for obstacle detection mounted about 15cm off the ground. Also, I am **not** using a static map--both the local and global cost maps are using the odom frame for the global frame.
The issue is that when the robot attempts to pass through a narrow gap, such as a doorway, the global planner (NavfnROS) usually plans a reasonable path through the gap. The local planner (TrajectoryPlannerROS) then speeds the robot along the path toward the gap and some times the robot makes it through but at least 50% of the time, the robot stops either just before it enters the gap or even *after* it has entered the gap. The robot then rotates through small angles left and right and might even back up a bit. After 10 to 15 seconds, I see the warning:
Clearing costmap to unstuck robot (3.000000m)
on the move_base terminal. I've tried a gazillion combination of parameters including increasing the planner frequency, changing the map resolution, reducing the inflation radius to as small as 0.1 and nothing seems to eliminate the problem. In addition, I don't know where the number 3.000000m in the message above is coming from. Looking at the source code for [clear_costmap_recovery.cpp](https://github.com/ros-planning/navigation/blob/indigo-devel/clear_costmap_recovery/src/clear_costmap_recovery.cpp) this parameter is defined on line 61 as:
private_nh.param("reset_distance", reset_distance_, 3.0);
However, I cannot figure out how to redefine this parameter in my yaml files. For example, neither:
conservative_clear:
reset_distance: 1.0
nor
conservative_reset_dist: 1.0
changes the value of the parameter in the warning message above. Also, the following screen shot shows a typical situation where this stuck behavior occurs:
Notice how the global plan (thin green line) passes very close to the obstacle on the right. And this is after the robot has already been stuck for 10 seconds or so even though the planner frequency in this case was 5 Hz. For some reason, the robot just remains stuck instead of replanning a path to go more centrally through the gap.
So the more general question is this: what parameter tricks are people using to get their robots to move through narrow gaps like doorways?
Thanks!
patrick
patrick
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Build a map and set a nav goal with gmapping and Husky A200
I'm able to build a 2D map with gmapping by using a SICK laser and IMU.
I use robot_localization to obtain /odometry/filtered by using wheel encoders and IMU (when I lunch my robot `roslaunch husky_base base.launch`, `base.launch` launches `control.launch` which launches `robot_localization` package).
By giving these commands:
roscore
rosparam set use_sim_time true
roslaunch husky_viz view_robot.launch
roslaunch husky_navigation gmapping_demo.launch
rosbag play --clock file.bag
I can see a map like this: 
(Right click on it and then "view" to see it larger)
Please see also the errors on the left side (I think they are not so important since I'm able to build the map).
The problem now is that I'm not able to set the navigation goal and make the robot navigate towards it.
When I launch `husky_navigation gmapping_demo.launch`, it also launches `move_base` but I can't understand why the robot don't move.
This is `gmapping_demo.launch`:
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How to feed physical dimensions of robot to navigation stack?
I have just successfully finished my simulation and just assembled my robot hardware. Now i want to setup navigation stack in my real robot.
In the simulation, the navigation stack will take the dimensions of robot (Base L x W x H, wheel dia, Wheel separation) from the spawned URDF file but how and where should i feed these details to navigations stack in the real robot.
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Global planner behavior upon local planner failure
Hi,
I am using navigation stack and wondering what is the expected behavior of global planner upon the local planner fails to control robot according to thewaypoints.
According to a test that I ran ([link](https://github.com/gergia/multiple_turtlebots_stage_amcl/blob/replanning/README.md)), it seems that it enters the global planner over and over again (without taking into account any info from sensors).
That is not what I would expect - I expected it to return *impossible to find a plan* the second time it enters the planner.
Is it really so, or did I make a mistake in the setup?
Finally, robot would get out of that situation only after exhausting all recovery behaviors. If this is the only solution, what is the best way to tune triggering recovery behaviors?
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Error in move base : Aborting because the robot appears to be oscillating over and over. Even after executing all recovery behaviors"
I have created my navigating tracked mobile robot. When i give a simple goal to the robot in RVIZ path planning was done successfully. But the robot did not move. Instead of moving the error message was prompted after few seconds as Aborting because the robot appears to be oscillating over and over. Even after executing all recovery behaviors". Can anyone give me a proper solution for this. In here i have attached all parameter files, rqt graph of active topics and some screenshots in RVIZ.
local_costmap_params.ymail
local_costmap:
global_frame: odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 1.0
height: 1.0
resolution: 0.05
transform_tolerance: 0.5
plugins:
- {name: obstacles, type: "costmap_2d::VoxelLayer"}
- {name: inflater, type: "costmap_2d::InflationLayer"}
global_costmap_params.yaml
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 1.0
publish_frequency: 0.5
static_map: true
transform_tolerance: 0.5
costmap_common_params.yaml
obstacle_range: 2.5
raytrace_range: 3.0
#footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
footprint: [[-0.2,-0.2],[-0.2,0.2], [0.2, 0.2], [0.2,-0.2]]
#robot_radius: 0.22545
robot_radius: 0.4002
#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns
inflation_layer:
enabled: true
cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.30 # max. distance from an obstacle at which costs are incurred for planning paths.
obstacle_layer:
enabled: true
min_obstacle_height: 0.0
max_obstacle_height: 0.6
origin_z: 0.0
z_resolution: 0.2
z_voxels: 2
unknown_threshold: 15
mark_threshold: 0
combination_method: 1
track_unknown_space: true #true needed for disabling global path planning through unknown space
obstacle_range: 2.5
raytrace_range: 3.0
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}
dwa_local_planner_params.yaml
DWAPlannerROS:
# Robot Configuration Parameters - Kobuki
max_vel_x: 0.55 # 0.55
min_vel_x: 0.0
max_vel_y: 0.4 # diff drive robot
min_vel_y: 0.0 # diff drive robot
max_trans_vel: 0.38 # choose slightly less than the base's capability
min_trans_vel: 0.10 # this is the min trans velocity when there is negligible rotational velocity
trans_stopped_vel: 0.1
# Warning!
# do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities
# are non-negligible and small in place rotational velocities will be created.
#max_rot_vel: 5.0 # choose slightly less than the base's capability
max_rot_vel: 2.0 # Very slow for exploration!
min_rot_vel: 0.4 # this is the min angular velocity when there is negligible translational velocity
rot_stopped_vel: 0.4
acc_lim_x: 0.5 # maximum is theoretically 2.0, but we
acc_lim_theta: 2.0
acc_lim_y: 0.0 # diff drive robot
# Goal Tolerance Parameters
yaw_goal_tolerance: 0.1 # 0.05
xy_goal_tolerance: 0.15 # 0.10
# latch_xy_goal_tolerance: false
# Forward Simulation Parameters
sim_time: 1.0 # 1.7
vx_samples: 6 # 3
vy_samples: 1 # diff drive robot, there is only one sample
vtheta_samples: 20 # 20
# Trajectory Scoring Parameters
path_distance_bias: 32.0 # 32.0 - weighting for how much it should stick to the global path plan
goal_distance_bias: 24.0 # 24.0 - wighting for how much it should attempt to reach its goal
occdist_scale: 0.50 # 0.01 - weighting for how much the controller should avoid obstacles
forward_point_distance: 0.325 # 0.325 - how far along to place an additional scoring point
stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj.
scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint
max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed.
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags
# Debugging
publish_traj_pc : true
publish_cost_grid_pc: true
global_frame_id: odom
# Differential-drive robot configuration - necessary?
holonomic_robot: false
prune_plan: true # May help with Auto Explore.
**move_base.launch.xml**
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range_sensor_layer error
Hi all, I am using four sonar sensor and Hokuyo laser for navigation. I am using range_sensor_layer for sonar sensor. The problem is when I publish the sensor_msgs/Range message and use the range_sensor_layer, I get the following error:
[ERROR] [1473920347.325424279]: Range sensor layer can't transform from odom to sonar_one_range at 1473920347.167207
I am not able to see why am I getting this error as the tf tree is properly set up and there is a transformation from odom to sonar_one_range.
tf tree:
[link text](http://pan.baidu.com/s/1bpBlXgj)
costmap_common_params.yaml
obstacle_range: 3.0
raytrace_range: 3.0
footprint: [[0.30, 0.0], [0.30,-0.25], [0.0, -0.25], [-0.30, -0.25], [-0.30,0.0], [-0.30, 0.25], [0.0, 0.25], [0.30, 0.25]]
#robot_radius: 0.5
inflation_radius: 0.2
max_obstacle_height: 0.6
min_obstacle_height: 0.0
obstacle_layer:
observation_sources: scan
scan:
data_type: LaserScan
topic: scan
marking: true
clearing: true
expected_update_rate: 0.0
observation_persistence: 0.0
range_sensor_layer:
ns: /sensors/sonar_sensor
topics: ["sonar_one_range","sonar_two_range","sonar_three_range","sonar_four_range"]
no_readings_timeout: 0.0
clear_threshold: 2.0
mark_threshold: 8.0
clear_on_max_reading: true
local_costmap_params.yaml
local_costmap:
global_frame: /odom
robot_base_frame: /base_link
update_frequency: 2.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 2.0
height: 2.0
resolution: 0.1
transform_tolerance: 1.0
plugins:
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: range_sensor_layer, type: "range_sensor_layer::RangeSensorLayer"}
global_costmap_params.yaml
global_costmap:
map_type: costmap
global_frame: /map
robot_base_frame: /base_link
update_frequency: 3.0
publish_frequency: 3.0
static_map: true
rolling_window: false
resolution: 0.1
transform_tolerance: 1.0
Does anyone have any idea what is going wrong here? Please let me know if you need more information from me. Any help will be appreciated.
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Is there a way to use the navigation stack without stopping at goals?
This question was asked by someone else in 2013, but never answered. So giving it another shot as I'm sure there are other people besides me with similar question.
Using ROS Indigo, we have an indoor robot that is to follow a pre-planned trajectory at a constant speed. There are no obstacles. Can move_base, base_local_planner be used to generate the required velocity commands such that the robot passes through the goal (waypoint) at a predetermined pose and speed and continues towards the next goal at the same linear speed and without stopping until it reaches the last (end) goal? If move_base won't work is there a package that could?
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Why does catkin_make fail when package depends on 'move_base' ?
I have been using ROS for a few days and I am following the tutorial for setting up the Navigation Stack. It tells me to create a package as follows:
catkin_create_pkg my_robot_name_2dnav move_base my_tf_configuration_dep my_odom_configuration_dep my_sensor_configuration_dep
Since tf and odom are handled in the zen package, and my sensor is a Kinect, my actual command is:
catkin_create_pkg zen_2dnav2 move_base freenect_launch zen
When I execute catkin_make I get an error due to move_base:
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
Could not find a package configuration file provided by "move_base" with
any of the following names:
move_baseConfig.cmake
move_base-config.cmake
I googled and subsequently removed the error by:
- Removing the build-Dependency on move_base from package.xml
- Removing move_base from
find_package(catkin REQUIRED
COMPONENTS ...) in CMakeLists.txt
So my questions in order of importance are:
- Why did I get the error ?
- What are the implications of removing
the dependency ? i.e. Will the
Navigation Stack fail because of this
- During my googling I read that
move_base is not catkinized and a
catkin package cannot depend on it.
Does that mean the tutorial is doomed
to failure. I am hoping the
information is out of date and
move_base IS catkinized. How can I
check this ? Is there an up to date
list of packages that work in Kinetic
?
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Correct the goal of movebase
Hi all,
I have a question about the goal correction of movebase.
Here are the pictures to explain my problem. [Pictures](https://drive.google.com/drive/folders/0B2G96eBtBMaMSWRmOVFxbTliUFU?usp=sharing)
In the 1.png, I choose a place as a goal and want my robot guide to the place.
The SLAM publishs TF (/map to /odom) while my robot is moving, so it cause the result as 2.png; my goal is different from my original one. Is there any method to correct my goal to the original one while the SLAM publish the TF?
Thanks in advance.
The SLAM publishs TF (/map to /odom) while my robot is moving, so it cause the result as 2.png; my goal is different from my original one. Is there any method to correct my goal to the original one while the SLAM publish the TF?
Thanks in advance.
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