the error info is shown below:
Client [/move_base] wants topic /scan to have datatype/md5sum [sensor_msgs/PointCloud/...], but our version has [sensor_msgs/LaserScan/...].Dropping Connection.
I think i have configured the observation_source in the costmap_common_params.yaml file as below, but it still shows that move_base node wants the PointCloud type of topic /scan. The topic /scan is published as LaserScan type.
Does anyone have ideas on this problem? with great thanks.
obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.16,0],[0,0.16],[0.16,0]]
robot_radius:ir_of_robot
inflation_radius: 0.55
observation_sources: scan
scan: {datatype: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}
and the other config file for move_base is shown as below:
global_costmap_params.yaml
global_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 5.0
static_map: false
local_costmap_params.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
width: 6.0
resolution: 0.05
base_local_planner_params.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: false
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