I am currently running a differential drive setup robot configured to run on GMapping, custom made odometry publisher and navigation stack(move_base, costmap_2d).
I have the following errors and warnings with the param settings given below:
1. I get the following error when giving a goal on the map (map and current position are perfect ).( I created a map from recording /scan topic on a bag file)
`[ WARN] [1487352631.099260113]: MessageFilter [target=map ]: Discarding message from [/move_base] due to empty frame_id. This message will only print once.`
`[ WARN] [1487352631.099750851]: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty`
2. move_base linear and angular velocities aren't getting tracked. The robot just weirdly rotates at full speed and performs in place rotation, and goes away from the goal given. **BUT** , using keyboard to publish cmd_vel works and the robot moves around perfectly. Which suggests the move_base isn't configured properly.
3. Sometimes, the above two problems
don't come up but the robot veers
away just as it reaches the goal at
a high speed(away from the goal).
The robot has a square base with motors kept at either centres of sides of square with a castor wheel at center.
My setup files are:
TrajectoryPlannerROS:
acc_lim_x: 0.09
acc_lim_y: 0.0
acc_lim_theta: .05
max_vel_x: 0.6
min_vel_x: 0.3
max_vel_theta: 0.2
min_vel_theta: 0.1
min_in_place_vel_theta: 0.2
holonomic_robot: false
yaw_goal_tolerance: .2
xy_goal_tolerance: .2
sim_time: 1.0
vx_samples: 12
meter_scoring: true
pdist_scale: 15
heading_lookahead: 0.325
heading_scoring: true
dwa: true
global_frame_id: map
global_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 1.0 #before: 5.0
publish_frequency: 0.5 #before 0.5
static_map: true
transform_tolerance: 0.5
local_costmap:
global_frame: /map
robot_base_frame: /base_link
update_frequency: 1.0 #before 5.0
publish_frequency: 2.0 #before 2.0
static_map: false
rolling_window: true
width: 5
height: 5
resolution: 0.025 #before 0.05
transform_tolerance: 0.5
common_costmap:
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.15, 0.15], [-0.15, 0.15], [-0.15, -0.15], [0.15, -0.15]]
inflation_radius: 0.15
transform_tolerance: 0.13
meter_scoring: true
observation_sources: scan
scan:
data_type: LaserScan
topic: scan
marking: true
clearing: true
map_type: costmap
move_base_params
shutdown_costmaps: false
controller_frequency: 5.0 #before 5.0
controller_patience: 15
planner_frequency: 5.0
planner_patience: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2
conservative_reset_dist: 0.10 #distance from an obstacle at which it will unstuck itself
recovery_behavior_enabled: false
clearing_rotation_allowed: false
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