Dear everyone,
I am trying to implement navigation after gmapping and after looking at the API and other models liky husky I am finding some problems.
i will write down a series of things that are happening in my simulation so that you can have a good idea and a fast recognition of the issue:
1. I am using my own multi robot model with its own urdf description. It has a diff drive odom controller and a modified hokuyo laser.
2. Gmapping worked perfectly and I have a map of the environment.
3. Once I launch everything now including the amcl and move base launch, I get a map with the robot on it, its pointcloud, and the laser readings correct.
4. When I try to set a goal in rviz for moving it, it is set properly (displaying the following message: etting goal: Frame:map, Position(0.189, 1.851, 0.000), Orientation(0.000, 0.000, 0.952, 0.306) = A). HOWEVER, in the amcl launch terminal it says :
[ WARN] [1523364828.094209076, 2369.900000000]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.3890 seconds.
AND most importantly the robot does not move.
5. I checked all the topics of move_base and all of them are working but cost_cloud and trajectory_cloud.
6. This is my tf tree (I cannot attach yet an image):
[link text](https://github.com/Randulfe/Swarm_Robotics_Project/blob/master/frames.pdf)
7. Do you think it is a problem only with moving the base?
8. What should I put as the robot base frame and the global frame? Maybe that is the problem.
I will be very pleased if someone can help me with this as it is a work for my dissertation and I have been stuck for weeks (and I do not have that much of time left :( )
Thanks
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