Hi,
I am in the process of covering [this tutorial](http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals) in order to familiarize myself with the packages of `move_base` and `actionlib`. I am aware that the code presented in the tutorial requires move_base server to be run.
My robot platform is a Powerbot (pioneer robot) by ActivMedia Mobilerobots. I am bringing up the following nodes as a standard procedure in order to have my setup up and running:
1. Roscore
2. RosAria package to interface and send commands to the robot's microcontroller
3. Sicktoolbox_wrapper package, to drive the laser range finder
4. TF transformation to get the followin tf tree: odom -> base_link -> laser
I am also using the move_base.launch that is presented in [this repository](https://github.com/husky/husky_navigation/tree/indigo-devel/launch). Since this requires a map to be fired up, I am using the `gmapping` package to create the map.
After I run move_base.launch (from the above repository) and the gmapping.launch file, I followed the rest of the tutorial to be able to run a simple command that moves the robot by 1 metre. When i ran the node `simple_navigation_goals`, I got the following error:
[ERROR] [1425560182.271687421]: Client [/move_base] wants topic /move_base_simple/goal to have datatype/md5sum [geometry_msgs/PoseStamped/d3812c3cbc69362b77dc0b19b345f8f5], but our version has [move_base_msgs/MoveBaseActionGoal/660d6895a1b9a16dce51fbdd9a64a56b]. Dropping connection.
[ INFO] [1425560187.048041843]: Waiting for the move_base action server to come up
[ INFO] [1425560192.048212940]: Waiting for the move_base action server to come up
The move_base action server never seemed to "come up" even though I had run the `move_base.launch` file.
Also, in the terminal tab where I ran `move_base.launch`, I had the following, with a warning at the end:
[ INFO] [1425560108.210836103]: Using plugin "static"
[ INFO] [1425560108.359553517]: Requesting the map...
[ INFO] [1425560108.700098618]: Resizing costmap to 4000 X 4000 at 0.050000 m/pix
[ INFO] [1425560108.864587000]: Received a 4000 X 4000 map at 0.050000 m/pix
[ INFO] [1425560108.864730805]: Subscribing to updates
[ INFO] [1425560108.881533417]: Using plugin "inflation"
[ INFO] [1425560109.295686084]: Using plugin "obstacles_laser"
[ INFO] [1425560109.422666966]: Subscribed to Topics: laser
[ INFO] [1425560109.514106393]: Using plugin "inflation"
[ INFO] [1425560109.778240474]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1425560109.795708585]: Sim period is set to 0.20
[ INFO] [1425560110.262923424]: Recovery behavior will clear layer obstacles
[ INFO] [1425560110.412136262]: Recovery behavior will clear layer obstacles
[ WARN] [1425560386.212503542]: Map update loop missed its desired rate of 4.0000Hz... the loop actually took 0.2584 seconds
Can someone please explain to me:
1. What kind of move_base launch file do I need to have in order to bring up the move_base action server?
2. Do I need to run other nodes apart from the ones I mentioned previously?
3. How can I use and run this tutorial (simple_navigation_goals) without having to run gmapping?
EDIT: UPDATE:
This is the procedure that I am following to bring up my setup:
1. roscore
2. rosrun rosaria RosAria _port:=/dev/ttyS0 (runs the rosaria node to drive the robot)
3. rosrun sicktoolbox_wrapper sicklms _port:=/dev/ttyS1
4. rosrun transform transform (TF code brought from [this tutorial](http://www.ist.tugraz.at/robotics/bin/view/Main/Poineer_mapping)
5. roslaunch gmapping.launch ([gmapping.launch](https://www.dropbox.com/s/p04h4ul2zrhnljw/gmapping.launch?dl=0)
6. roslaunch move_base_mapless_demo.launch (obtained from the repository link I posted above)
7. rosrun simple_navigation_goals simple_navigation_goals (I changed the code a bit so that I would know where it is stopping - see code [here](https://www.dropbox.com/s/ep17rcb3couik9y/simple_navigation_goals.cpp?dl=0)
On following this procedure with the files I've posted, the result is this:
**Move_base launch file tab:** The message "Got new plan" was seen
**simple_navigation_goals node tab:** From the ROS_INFO messages I've added to the code I could see that the program halts at `ac.waitForResult()` and in fact, the robot never moves forward and therefore the goal is never reached, i.e. robot is never "done".
Does this have to do with the fact that I am using RosAria to drive the robot? If so, to which frame_id should I publish the goal instruction?
EDIT 2:
I tried to echo /RosAria/cmd_vel in order to see whether the velocity commands were getting through to the driver, but I got nothing. Clearly, the velocity commands and not being published to /RosAria/cmd_vel.
↧