Hello all, I am using move_base as a local navigation without map_sever and amcl. I have a higher path planning planner which is a cpp file which will generate some goals. And I publish it to the move_base/goal topic. But I have some problem when I set up the navigation stack. I was following the navigation tutorial.
Here is my yaml files and launch file:
BTW, this is my error when running the launch file:
Waiting on transform from base_link to map to become available before running costmap, tf error:
costmap_common_params.yaml:
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [(0.0,0.0)]
#robot_radius: ir_of_robot
inflation_radius: 0.55
observation_sources: laser_scan_sensor point_cloud_sensor
laser_scan_sensor: {sensor_frame: frame_name, data_type: LaserScan, topic: topic_name, marking: true, clearing: true}
point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true}
local_costmap_param.yaml:
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: 6.0
height: 6.0
resolution: 0.05
global_costmap_params.yaml:
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
static_map: false
base_local_planner.yaml:
TrajectoryPlannerROS:
max_vel_x: 0.45
min_vel_x: 0.1
max_vel_theta: 1.0
min_in_place_vel_theta: 0.4
acc_lim_theta: 3.2
acc_lim_x: 2.5
acc_lim_y: 2.5
holonomic_robot: true
launch file: This launch file will open the stage and topics tf and base_scan ,odom ,cmd_vel are provided
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