I am setting up ros navigation stack on a robot called Beam. I am not using a static map for the navigation instead i have set the rolling_window parameters true for both global and local cost maps.
(I am not allowed to attach images so i will try my best to describe my situation in words.)
My rviz Screen has following objects
- In my rviz screen i have local and global costmaps that correctly shows the obstacles.
- I have a goal that is subscribed to /move_base/current_goal topic.
- I also have robot footprint.
- "2D Nav Goal" tool is pointing to /move_base_simple/goal.
In terminal : $ rostopic info /move_base_simple/goal
Publishers:
* /rviz_1478194899883990323 (http://172.20.41.90:44168/)
Subscribers:
* /move_base (http://172.20.41.90:46055/)
In terminal: $ rostopic info /cmd_vel
Publishers:
* /move_base (http://172.20.41.90:46055/)
Subscribers:
* /beam/beam (http://172.20.41.123:43113/)
* When I set a goal in rviz using "2D Nav Goal" tool, the terminal window of rviz shows the following information.
INFO [1478195397.235377567]: Setting goal: Frame:base_link, Position(0.558, -0.039, 0.000), Orientation(0.000, 0.000, 0.000, 1.000) = Angle: 0.000
In another terminal window i have following command running
"rostopic echo /move_base_simple/goal"
In another terminal window i have following command running
"rostopic echo /cmd_vel"
My problem is that when I set a goal in rviz screen i do not see anything published to /move_base_simple/goal or /cmd_vel topics.
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