I'm attempting to create a program that can send a series of waypoints to a turtlebot3 performing 2D slam with AMCL and using move_base as the controller. Doing all this as a simulation.
I'm trying to get this all running in gazebo. I have followed the [turtlebot3 navigation and simulation tutorials](http://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#turtlebot3-simulation-using-gazebo), I can get gazebo running, see the robot, launch Rviz, reset the pose, and even send a command via the Rviz 2N nav goal GUI, and it all works.
First I run:
roslaunch turtlebot3_gazebo turtlebot3_world.launch
Then:
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml
However, when I go to give it a second goal (either from terminal, or the rviz GUI), nothing happens. No new global or local plan is generated, it just sits there.
Ive tried running rostopic echo move_base/status:
for the first goal, everything works fine and when it reaches goal I get this:
header:
seq: 1104
stamp:
secs: 285
nsecs: 411000000
frame_id: ''
status_list:
-
goal_id:
stamp:
secs: 2690710792
nsecs: 32577
id: "/move_base-1-2690710792.32577"
status: 3
text: "Goal reached."
When I set a new 2nd goal, it seems to be immediately rejected because another goal?
header:
seq: 1308
stamp:
secs: 326
nsecs: 8000000
frame_id: ''
status_list:
goal_id:
stamp:
secs: 2690710792
nsecs: 32577
id: "/move_base-1-2690710792.32577"
status: 3
text: "Goal reached."
goal_id:
stamp:
secs: 321
nsecs: 25000000
id: "/move_base-2-321.25000000"
status: 8
text: "This goal was canceled because another goal was recieved by the simple action server"
Ive dug through as many of these rostopic lists as I could looking for more clues, but have come up empty handed. Please hlep me shed light on this one!!
A few notes on system:
ROS Kinetic running on Ubuntu 16.04, all on a virtual machine running in windows.
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