i'm implementing move_base on my own robot description .i used hector slam for mapping and localize the robot amcl correctly. but when i imlement move_base the simulation start to show error the robot doesn't move to a goal .i have search similar question on internet but couldn't find any solution.
[ WARN] [1554394342.080578158, 1481.705000000]: Costmap2DROS transform timeout. Current time: 1481.7050, global_pose stamp: 0.0000, tolerance: 0.3000
i am using skid steering plugin for odometry i can't post my tf because i don't point ,and am using ros kinetic on ubuntu 16.04
base_local_planner_params.yaml
TrajectoryPlannerROS:
max_vel_x: 0.5
min_vel_x: 0.1
max_vel_theta: 0.5
min_in_place_vel_theta: 0.1
escape_vel: -0.02
acc_lim_theta: 0.5
acc_lim_x: 0.5
acc_lim_y: 0.5
sim_time: 4
meter_scoring: true
holonomic_robot: false
EBandPlannerROS:
# Common Parameters
xy_goal_tolerance: 0.15
yaw_goal_tolerance: 0.13
rot_stopped_vel: 0.05
trans_stopped_vel: 0.05
# Visualization Parameters
marker_lifetime: 20.0
# Trajectory Controller Parameters
max_vel_lin: 0.75
max_vel_th: 1.0
min_vel_th: 0.5
min_in_place_vel_th: 2.0
k_prop: 1.0
k_damp: 3.5
Ctrl_Rate: 50
max_translational_acceleration: 2.5
max_rotational_acceleration: 1.5
differential_drive: true
max_acceleration: 2.5
local_costmap_params.yaml
local_costmap:
global_frame: /odom
robot_base_frame: base_link
update_frequency: 10.0
publish_frequency: 10.0
width: 20.0
height: 20.0
resolution: 0.05
static_map: false
rolling_window: true
costmap_common_params.yaml
map_type: costmap
obstacle_range: 5
raytrace_range: 6
footprint: [ [-0.6, -0.85], [-0.6, 0.85], [0.6, 0.85], [0.6, -0.85] ]
transform_tolerance: 0.3
robot_radius: 0.8
inflation_radius: 0.35
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: Empty_lidar, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
global_costmap_params.yaml
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 5.0
resolution: 0.05
static_map: true
rolling_window: false
move_base launch
↧