Hi
I have created URDF for simple three-wheeled robot with differential drive with laser scanner on top of it.
All packages created for ROS Hydro can be found [here](https://code.google.com/p/ros-cpp-samples/source/browse/trunk/hydro/robone/)
In package robone_description there is folder urdf with robot description. In folder launch there is file display.launch which starts RViz with robot model and robot state publisher node.
The package robone_2dnav contains two launch files
1. gmapping.launch - starts SLAM gmapping
2. move_base.launch - starts move base node
Configuration for those nodes can be found in the folder config for robone_2dnav package.
Also I have created package robone_gazebo to start simulation of the robot.
*Please ignore package robone_main. It does not have anything to do with the issue.*
Previously I have some issues with SLAM gmapping but now map of the environment is good.
To reproduce issues I am doing following steps
- roslaunch robone_gazebo robone.launch
- roslaunch robone_description display.launch
- roslaunch robone_2dnav gmapping.launch
- roslaunch robone_2dnav move_base.launch
- In Gazebo office wall will block all view. Please right click on the working area of the Gazebo and in context menu select View->Wireframe so you’ll be able to see robot in the building’s room.
- In RViz select “2D Nav Goal” in the toolbar. Click on point approximately 1 meter in front of robot.
**Result**
Robot will start making clockwise circles in the room indefinitely or until it collide with the wall.
**Expected behavior**
Go directly to the point which is 1m in from of robot. There is no obstacles to avoid on its path.
> The question is what I am doing wrong> in this simple setup of navigation> stack?
If bag file is needed please provide names of the topics which need to be provided because for all topics such file is too big to send.
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