Hi, I'm using move_base and stage_ros in the indigo release and I'm getting a strange behavior of the simulated robot. I'll try to explain it with an example:
I have a map which is loaded both by the map_server for move_base and by stage (the map is the same, I checked). I'm also using amcl as localiser. Then, if I open rviz, I can clearly see the map, the robot, and what the robot is sensing with is laser. What the laser is scanning is exactly compliant with the map I see (that is the one published by the map_server). If I give a goal through the Nav2Goal tool, the robot starts moving, following the path evaluated by the motion planner. Everything ok until here. The strange behavior starts happening when the robot, for some reasons, gets stuck in an obstacle: at that point, in stage the robot is stuck (with the exclamation mark on it), while for move_base (and so in rviz) it keeps moving along the path. Moreover, the laser scan stays consistent with stage, so that it starts misaligning with the map in rviz. Even more strange, although the path is evaluated by move_base to avoid obstacles, the robot still drive over there without problem (only in rviz, not in stage, where, instead, it gets stuck generating the strange behavior). It seems like stage keeps publishing the odometry of the robot moving, and so move_base move the robot independently. Moreover, I get this warning on move_base
> [ WARN] [1468429179.824253819, 23.400000000]: MessageFilter [target=map laser ]: Dropped 100.00% of messages so far. Please turn the [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for more information.
I checked the tf tree, and everything is connected as due.
I report my launch and config files for consistency.
test_move_base.launch
↧