Some confusion about navigation
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This post was updated on .
Hi Mathieu,
Thank you for the amazing work. I ran the rtabmap project and got it working with point_cloud showing on rviz and then I started working on the navigation system following the tutorial in this link. http://wiki.ros.org/navigation/Tutorials/RobotSetup . I am only using one Kinect v2, so I only published the point_cloud information through ROS successfully. I am new to ROS so I did not know exactly what values to replace in all those configuration files. Luckily I found your discussion here that helps a lot. http://official-rtab-map-forum.206.s1.nabble.com/Autonomous-Navigation-td801.html#a820 I used your files and tried to adapt the files by myself. The adapted ones are shown as follow and the rest ones are the same as yours: costmap_common_params.yaml footprint: [[ 0.3, 0.3], [-0.3, 0.3], [-0.3, -0.3], [ 0.3, -0.3]] footprint_padding: 0.02 inflation_layer: inflation_radius: 0.5 transform_tolerance: 2 obstacle_layer: obstacle_range: 2.5 raytrace_range: 3 max_obstacle_height: 0.4 track_unknown_space: true observation_sources: point_cloud_sensor point_cloud_sensor: { data_type: PointCloud2, topic: /rtabmap/cloud_map, expected_update_rate: 0.5, marking: true, clearing: true, min_obstacle_height: -99999.0, max_obstacle_height: 99999.0} navigation.launch <launch> <arg name="scan_topic" default="/scan"/> <arg name="map_topic" default="/map"/> <remap from="cloud_in" to="/rtabmap/cloud_map"/> <remap from="map" to="/rtabmap/grid_map"/> <node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen"> <rosparam file="/home/autodriving/navigation_ws/src/costmap_common_params.yaml" command="load" ns="global_costmap" /> <rosparam file="/home/autodriving/navigation_ws/src/costmap_common_params.yaml" command="load" ns="local_costmap" /> <rosparam file="/home/autodriving/navigation_ws/src/local_costmap_params.yaml" command="load" ns="local_costmap" /> <rosparam file="/home/autodriving/navigation_ws/src/global_costmap_params.yaml" command="load" ns="global_costmap"/> <rosparam file="/home/autodriving/navigation_ws/src/base_local_planner_params.yaml" command="load" /> </node> </launch> And then I followed your steps for launching the related programs. After this step, roslaunch navigation.launch map_topic:=/rtabmap/grid_map, the terminal shows the message: SUMMARY ======== PARAMETERS * /move_base/NavfnROS/allow_unknown: True * /move_base/NavfnROS/visualize_potential: False * /move_base/TrajectoryPlannerROS/acc_lim_theta: 4 * /move_base/TrajectoryPlannerROS/acc_lim_x: 0.75 * /move_base/TrajectoryPlannerROS/acc_lim_y: 0.75 * /move_base/TrajectoryPlannerROS/angular_sim_granularity: 0.05 * /move_base/TrajectoryPlannerROS/gdist_scale: 0.8 * /move_base/TrajectoryPlannerROS/holonomic_robot: True * /move_base/TrajectoryPlannerROS/latch_xy_goal_tolerance: True * /move_base/TrajectoryPlannerROS/max_vel_theta: 0.5 * /move_base/TrajectoryPlannerROS/max_vel_x: 0.5 * /move_base/TrajectoryPlannerROS/meter_scoring: True * /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.25 * /move_base/TrajectoryPlannerROS/min_vel_theta: -0.5 * /move_base/TrajectoryPlannerROS/min_vel_x: 0.24 * /move_base/TrajectoryPlannerROS/occdist_scale: 0.01 * /move_base/TrajectoryPlannerROS/pdist_scale: 0.7 * /move_base/TrajectoryPlannerROS/publish_cost_grid_pc: False * /move_base/TrajectoryPlannerROS/sim_granularity: 0.025 * /move_base/TrajectoryPlannerROS/sim_time: 1.5 * /move_base/TrajectoryPlannerROS/vtheta_samples: 20 * /move_base/TrajectoryPlannerROS/vx_samples: 12 * /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.25 * /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.25 * /move_base/base_global_planner: navfn/NavfnROS * /move_base/controller_frequency: 10.0 * /move_base/global_costmap/always_send_full_costmap: False * /move_base/global_costmap/footprint: [[0.3, 0.3], [-0.... * /move_base/global_costmap/footprint_padding: 0.02 * /move_base/global_costmap/global_frame: map * /move_base/global_costmap/inflation_layer/inflation_radius: 0.5 * /move_base/global_costmap/obstacle_layer/max_obstacle_height: 0.4 * /move_base/global_costmap/obstacle_layer/observation_sources: point_cloud_sensor * /move_base/global_costmap/obstacle_layer/obstacle_range: 2.5 * /move_base/global_costmap/obstacle_layer/point_cloud_sensor/clearing: True * /move_base/global_costmap/obstacle_layer/point_cloud_sensor/data_type: PointCloud2 * /move_base/global_costmap/obstacle_layer/point_cloud_sensor/expected_update_rate: 0.5 * /move_base/global_costmap/obstacle_layer/point_cloud_sensor/marking: True * /move_base/global_costmap/obstacle_layer/point_cloud_sensor/max_obstacle_height: 99999.0 * /move_base/global_costmap/obstacle_layer/point_cloud_sensor/min_obstacle_height: -99999.0 * /move_base/global_costmap/obstacle_layer/point_cloud_sensor/topic: /rtabmap/cloud_map * /move_base/global_costmap/obstacle_layer/raytrace_range: 3 * /move_base/global_costmap/obstacle_layer/track_unknown_space: True * /move_base/global_costmap/plugins: [{'type': 'rtabma... * /move_base/global_costmap/publish_frequency: 2 * /move_base/global_costmap/robot_base_frame: base_footprint * /move_base/global_costmap/transform_tolerance: 2 * /move_base/global_costmap/update_frequency: 2 * /move_base/local_costmap/footprint: [[0.3, 0.3], [-0.... * /move_base/local_costmap/footprint_padding: 0.02 * /move_base/local_costmap/global_frame: odom * /move_base/local_costmap/height: 3.0 * /move_base/local_costmap/inflation_layer/inflation_radius: 0.5 * /move_base/local_costmap/obstacle_layer/max_obstacle_height: 0.4 * /move_base/local_costmap/obstacle_layer/observation_sources: point_cloud_sensor * /move_base/local_costmap/obstacle_layer/obstacle_range: 2.5 * /move_base/local_costmap/obstacle_layer/point_cloud_sensor/clearing: True * /move_base/local_costmap/obstacle_layer/point_cloud_sensor/data_type: PointCloud2 * /move_base/local_costmap/obstacle_layer/point_cloud_sensor/expected_update_rate: 0.5 * /move_base/local_costmap/obstacle_layer/point_cloud_sensor/marking: True * /move_base/local_costmap/obstacle_layer/point_cloud_sensor/max_obstacle_height: 99999.0 * /move_base/local_costmap/obstacle_layer/point_cloud_sensor/min_obstacle_height: -99999.0 * /move_base/local_costmap/obstacle_layer/point_cloud_sensor/topic: /rtabmap/cloud_map * /move_base/local_costmap/obstacle_layer/raytrace_range: 3 * /move_base/local_costmap/obstacle_layer/track_unknown_space: True * /move_base/local_costmap/origin_x: 0 * /move_base/local_costmap/origin_y: 0 * /move_base/local_costmap/plugins: [{'type': 'costma... * /move_base/local_costmap/publish_frequency: 2 * /move_base/local_costmap/resolution: 0.025 * /move_base/local_costmap/robot_base_frame: base_footprint * /move_base/local_costmap/rolling_window: True * /move_base/local_costmap/transform_tolerance: 2 * /move_base/local_costmap/update_frequency: 2 * /move_base/local_costmap/width: 3.0 * /rosdistro: kinetic * /rosversion: 1.12.7 NODES / move_base (move_base/move_base) ROS_MASTER_URI=http://localhost:11311 core service [/rosout] found process[move_base-1]: started with pid [7788] [ WARN] [1503652743.735908890]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.100748 timeout was 0.1. 1) How should I fix it? The thing is that I do not have a physical robot right now and I am thinking about doing a navigation simulation on the computer using only the Kinect v2 by running the move_base on a URDF robot model I created on RVIZ. 2) If my plan is feasible, what should my robot configuration file be ? 3) This maybe a silly question. Since move_base allows a path to a destination to be found, do I need to enter some sort of coordinates or images of the destination? Sorry for the long question and thank you in advance! |
Administrator
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Doing navigation without a robot or a simulated robot (Gazebo) is quite difficult to see what is going on with move_base. As you don't have a robot, I would recommend to try the simulated turtlebot tutorials (Gazebo subsection). When you have the basis, you can go to this tutorial (Gazebo section) if you want to use rtabmap to get a 3D map.
cheers, Mathieu |
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Thank you so much for the hint. I have been struggling with this for so long. I will let you know how it goes.
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In reply to this post by matlabbe
Hi Mathieu,
I followed your suggested links and got the gazebot and simple navigation simulation running on the computer. Before this, I was really interested in navigation using SLAM and object recognition, which I can use the RGBD SLAM and find-object project to achieve respectively, according to the rtabmapping tutorials. I am wondering is there a way to do simulated SLAM and object recognition on the computer using Turtlebot model without extra devices or with only Kinect v2? Thanks! |
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Administrator
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Hi,
not sure what is your end goal, but for only mapping+object detection, you don't need navigation. It could be possible to use the kinectv2 for hand-held mapping with object detection started in parallel. For doing it under navigation in simulation, the problem is that rtabmap's loop closure detection and find-object's object detection are visual based. Unless your simulated environment is visually-rich (not just texture-less objects/walls), object detection and mapping won't work very great and your parameters won't be transferable in the real world. cheers, Mathieu |
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Hi Mathieu,
Thank you for the quick reply. I did the SLAM mapping+ object recognition before, and I will probably do navigation simulation alone without them later. However, right now as I am following the tutorial in the second link you posted earlier http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot#Simulation_.28Gazebo.29 , I encountered this problem in 6. SImulation(Gazebo) Section when typing the command $ roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true : [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20*16384 ir: 60*8*33792 [Info] [Freenect2DeviceImpl] opened [ERROR] [1503993422.707966686, 523.120000000]: Unsupported IR video mode - Resolution: 640x480@30Hz Format: Gray16 [ERROR] [1503993422.708616952, 523.120000000]: Unsupported color video mode - Resolution: 640x480@30Hz Format: RGB888 [ERROR] [1503993422.709901125, 523.120000000]: Could not set auto exposure. Reason: void openni2_wrapper::OpenNI2Device::setAutoExposure(bool) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.2.7/src/openni2_device.cpp @ 534 : Couldn't set auto exposure: Stream setProperty(101) failed [ERROR] [1503993422.710029618, 523.120000000]: Could not set auto white balance. Reason: void openni2_wrapper::OpenNI2Device::setAutoWhiteBalance(bool) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.2.7/src/openni2_device.cpp @ 550 : Couldn't set auto white balance: Stream setProperty(100) failed [ INFO] [1503993423.518752883, 523.930000000]: Starting color stream. [Info] [Freenect2DeviceImpl] starting... [Info] [Freenect2DeviceImpl] submitting rgb transfers... [Info] [Freenect2DeviceImpl] submitting depth transfers... [Info] [Freenect2DeviceImpl] started [ INFO] [1503993423.871257083, 524.280000000]: Starting depth stream. fx=1081.37,fy=1081.37,cx=959.5,cy=539.5 fx=365.779,fy=365.779,ix=256.458,iy=210.461,k1=0.0907644,k2=-0.271645,k3=0.0955216,p1=0,p2=0 [ INFO] [1503993424.239420518, 524.640000000]: using default calibration URL [ INFO] [1503993424.240844723, 524.640000000]: camera calibration URL: file:///home/autodriving/.ros/camera_info/rgb_Kinect_Microsoft.yaml [ INFO] [1503993424.243808072, 524.640000000]: Unable to open camera calibration file [/home/autodriving/.ros/camera_info/rgb_Kinect_Microsoft.yaml] [ WARN] [1503993424.246476496, 524.640000000]: Camera calibration file /home/autodriving/.ros/camera_info/rgb_Kinect_Microsoft.yaml not found. [ INFO] [1503993425.002673558, 525.360000000]: rtabmap (21): Rate=1.00s, Limit=0.700s, RTAB-Map=0.7054s, Maps update=0.0071s pub=0.0023s (local map=1, WM=1) [ INFO] [1503993425.022215522, 525.370000000]: Resizing costmap to 30 X 35 at 0.050000 m/pix [ WARN] [1503993425.114871061, 525.460000000]: Messages of type 2 arrived out of order (will print only once) [ WARN] [1503993425.119696179, 525.460000000]: Messages of type 0 arrived out of order (will print only once) [ INFO] [1503993425.122634686, 525.470000000]: Received a 30 X 35 map at 0.050000 m/pix [ INFO] [1503993425.143499979, 525.490000000]: Using plugin "obstacle_layer" [ INFO] [1503993425.151891380, 525.490000000]: Subscribed to Topics: scan bump [ INFO] [1503993425.758881146, 526.070000000]: Using plugin "inflation_layer" [ INFO] [1503993425.783615740, 526.090000000]: rtabmap (22): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0616s, Maps update=0.0010s pub=0.0016s (local map=2, WM=2) [ERROR] [1503993425.826417312, 526.130000000]: You must specify at least three points for the robot footprint, reverting to previous footprint. [Info] [DepthPacketStreamParser] 30 packets were lost [ INFO] [1503993426.262796009, 526.570000000]: Using plugin "obstacle_layer" [ INFO] [1503993426.385716607, 526.680000000]: Subscribed to Topics: scan bump [ INFO] [1503993426.592971731, 526.890000000]: Using plugin "inflation_layer" [ERROR] [1503993426.631156896, 526.930000000]: You must specify at least three points for the robot footprint, reverting to previous footprint. [Info] [DepthPacketStreamParser] 14 packets were lost [ INFO] [1503993426.875021019, 527.150000000]: rtabmap (23): Rate=1.00s, Limit=0.700s, RTAB-Map=0.1289s, Maps update=0.0008s pub=0.0019s (local map=3, WM=3) [ INFO] [1503993426.883978263, 527.160000000]: Created local_planner dwa_local_planner/DWAPlannerROS [ INFO] [1503993426.904017725, 527.170000000]: Sim period is set to 0.20 [Info] [DepthPacketStreamParser] 15 packets were lost [ INFO] [1503993427.948860795, 528.220000000]: rtabmap (24): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0799s, Maps update=0.0016s pub=0.0025s (local map=4, WM=4) [ INFO] [1503993428.248215688, 528.530000000]: Recovery behavior will clear layer obstacles [ INFO] [1503993428.378034405, 528.660000000]: Recovery behavior will clear layer obstacles [Info] [VaapiRgbPacketProcessor] avg. time: 21.853ms -> ~45.7604Hz [ INFO] [1503993428.578606233, 528.840000000]: Resizing costmap to 48 X 50 at 0.050000 m/pix [ INFO] [1503993428.581037138, 528.850000000]: odom received! [Info] [DepthPacketStreamParser] 15 packets were lost [ INFO] [1503993429.024408663, 529.260000000]: rtabmap (25): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0876s, Maps update=0.0009s pub=0.0016s (local map=5, WM=5) [ INFO] [1503993429.024809464, 529.270000000]: Resizing costmap to 48 X 50 at 0.050000 m/pix [Info] [DepthPacketStreamParser] 15 packets were lost [FATAL] (2017-08-29 15:57:09.956) MsgConversion.cpp:1118::convertRGBDMsgs() Condition (depthMsgs[i]->image.cols == imageWidth && depthMsgs[i]->image.rows == imageHeight) not met! [imageWidth=512 vs 640 imageHeight=424 vs 480] terminate called after throwing an instance of 'UException' what(): [FATAL] (2017-08-29 15:57:09.956) MsgConversion.cpp:1118::convertRGBDMsgs() Condition (depthMsgs[i]->image.cols == imageWidth && depthMsgs[i]->image.rows == imageHeight) not met! [imageWidth=512 vs 640 imageHeight=424 vs 480] [ INFO] [1503993430.488470623, 530.740000000]: Stopping color stream. [rtabmap/rtabmap-19] process has died [pid 9489, exit code -6, cmd /opt/ros/kinetic/lib/rtabmap_ros/rtabmap scan:=/scan rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info grid_map:=/map __name:=rtabmap __log:=/home/autodriving/.ros/log/2a54ec6e-8bcf-11e7-8f3e-1c872c5ffb7c/rtabmap-rtabmap-19.log]. log file: /home/autodriving/.ros/log/2a54ec6e-8bcf-11e7-8f3e-1c872c5ffb7c/rtabmap-rtabmap-19*.log [Info] [Freenect2DeviceImpl] stopping... [Info] [Freenect2DeviceImpl] canceling rgb transfers... [ WARN] [1503993430.589884144, 530.850000000]: Costmap2DROS transform timeout. Current time: 530.8500, global_pose stamp: 530.2600, tolerance: 0.5000 [ WARN] [1503993430.590026985, 530.850000000]: Could not get robot pose, cancelling reconfiguration [Info] [Freenect2DeviceImpl] canceling depth transfers... [Info] [Freenect2DeviceImpl] stopped [ WARN] [1503993431.579430502, 531.850000000]: Costmap2DROS transform timeout. Current time: 531.8500, global_pose stamp: 530.2600, tolerance: 0.5000 [ WARN] [1503993431.579529826, 531.850000000]: Could not get robot pose, cancelling reconfiguration [ WARN] [1503993432.575706057, 532.850000000]: Costmap2DROS transform timeout. Current time: 532.8500, global_pose stamp: 530.2600, tolerance: 0.5000 [ WARN] [1503993432.575763305, 532.850000000]: Could not get robot pose, cancelling reconfiguration [ WARN] [1503993433.574230622, 533.850000000]: Costmap2DROS transform timeout. Current time: 533.8500, global_pose stamp: 530.2600, tolerance: 0.5000 [ WARN] [1503993433.574274029, 533.850000000]: Could not get robot pose, cancelling reconfiguration [ WARN] [1503993434.574195208, 534.850000000]: Costmap2DROS transform timeout. Current time: 534.8500, global_pose stamp: 530.2600, tolerance: 0.5000 [ WARN] [1503993434.574261510, 534.850000000]: Could not get robot pose, cancelling reconfiguration [ WARN] [1503993435.574699277, 535.850000000]: Costmap2DROS transform timeout. Current time: 535.8500, global_pose stamp: 530.2600, tolerance: 0.5000 [ WARN] [1503993435.574810140, 535.850000000]: Could not get robot pose, cancelling reconfiguration Do you know what is going on? |
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Administrator
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Hi,
sorry the simulation argument has been added recently. I updated the documentation to mention it. Not sure if the new launch file is still compatible with older rtabmap versions (in particular Hydro/Indigo/Jade), but you may try to download the latest version of this file demo_turtlebot_mapping.launch and try it. Otherwise, you would have to build rtabmap_ros from source to get the latest version. cheers, Mathieu |
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Hi Mathieu,
Thank you for the advice! I reinstalled the rtabmap and it worked! For now I think I am satisfied with only running simulation on RVIZ. However, I have one last question. Is it possible to load a already built-map to RVIZ so the robot can navigate on it via the 2D Nav Goal button? I understand the map is saved in pmg format, but I do not know how to load the map and the robot in one RVIZ window simultaneously. I am sorry if that is a naive question and thank you in advance! |
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Administrator
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With rtabmap, there is no pgm. The map is reconstructed from the data in the database when reloaded. However, if the robot is not localized, rtabmap won't publish it. The robot has to localize in the [simulated] environment before you can see it in RVIZ. But again, if the simulated environment doesn't have textures, rtabmap will never localize.
With textureless environments, you may try gmapping (mapping) and AMCL (localization) tutorials instead. cheers, Mathieu |
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Hi Mathieu,
I am trying to load an example map willowgarage and while the load can be loaded successfully it seems that the robot still cannot localize in the map. In RVIZ, the robot is out of the range of the map and the terminal messages say: NODES / amcl (amcl/amcl) kobuki_safety_controller (nodelet/nodelet) map_server (map_server/map_server) move_base (move_base/move_base) navigation_velocity_smoother (nodelet/nodelet) ROS_MASTER_URI=http://localhost:11311 core service [/rosout] found process[map_server-1]: started with pid [5818] process[amcl-2]: started with pid [5819] process[navigation_velocity_smoother-3]: started with pid [5820] process[kobuki_safety_controller-4]: started with pid [5821] process[move_base-5]: started with pid [5822] [ INFO] [1504147914.770289141, 79.076000000]: Using plugin "static_layer" [ INFO] [1504147914.874628672, 79.181000000]: Requesting the map... [ INFO] [1504147915.077837398, 79.384000000]: Resizing costmap to 566 X 608 at 0.100000 m/pix [ INFO] [1504147915.176647948, 79.483000000]: Received a 566 X 608 map at 0.100000 m/pix [ INFO] [1504147915.183546485, 79.490000000]: Using plugin "obstacle_layer" [ INFO] [1504147915.185779822, 79.492000000]: Subscribed to Topics: scan bump [ INFO] [1504147915.231420427, 79.537000000]: Using plugin "inflation_layer" [ INFO] [1504147915.331916256, 79.636000000]: Using plugin "obstacle_layer" [ INFO] [1504147915.376440298, 79.679000000]: Subscribed to Topics: scan bump [ INFO] [1504147915.425024798, 79.724000000]: Using plugin "inflation_layer" [ INFO] [1504147915.521499740, 79.819000000]: Created local_planner dwa_local_planner/DWAPlannerROS [ INFO] [1504147915.525882145, 79.824000000]: Sim period is set to 0.20 [ INFO] [1504147916.507402988, 80.800000000]: Recovery behavior will clear layer obstacles [ INFO] [1504147916.561002987, 80.854000000]: Recovery behavior will clear layer obstacles [ INFO] [1504147916.601646554, 80.894000000]: odom received! [ WARN] [1504147917.281824567, 81.572000000]: The origin for the sensor at (-0.06, 0.08, 0.30) is out of map bounds. So, the costmap cannot raytrace for it. [ WARN] [1504147918.286681230, 82.572000000]: The origin for the sensor at (-0.06, 0.08, 0.30) is out of map bounds. So, the costmap cannot raytrace for it. [ WARN] [1504147919.291798282, 83.572000000]: The origin for the sensor at (-0.06, 0.08, 0.30) is out of map bounds. So, the costmap cannot raytrace for it. [ WARN] [1504147920.297920793, 84.572000000]: The origin for the sensor at (-0.06, 0.08, 0.30) is out of map bounds. So, the costmap cannot raytrace for it. [ WARN] [1504147921.303593662, 85.573000000]: The origin for the sensor at (-0.06, 0.08, 0.30) is out of map bounds. So, the costmap cannot raytrace for it. [ WARN] [1504147922.306735073, 86.573000000]: The origin for the sensor at (-0.06, 0.08, 0.30) is out of map bounds. So, the costmap cannot raytrace for it. [ WARN] [1504147924.309187905, 88.572000000]: The origin for the sensor at (-0.06, 0.08, 0.30) is out of map bounds. So, the costmap cannot raytrace for it. [ WARN] [1504147925.312080667, 89.572000000]: The origin for the sensor at (-0.06, 0.08, 0.30) is out of map bounds. So, the costmap cannot raytrace for it. [ WARN] [1504147926.314736121, 90.572000000]: The origin for the sensor at (-0.06, 0.08, 0.30) is out of map bounds. So, the costmap cannot raytrace for it. [ WARN] [1504147927.316456998, 91.572000000]: The origin for the sensor at (-0.06, 0.08, 0.30) is out of map bounds. So, the costmap cannot raytrace for it. [ WARN] [1504147928.319007061, 92.572000000]: The origin for the sensor at (-0.06, 0.08, 0.30) is out of map bounds. So, the costmap cannot raytrace for it. [ WARN] [1504147929.322370917, 93.572000000]: The origin for the sensor at (-0.06, 0.08, 0.30) is out of map bounds. So, the costmap cannot raytrace for it. [ WARN] [1504147930.328172127, 94.572000000]: The origin for the sensor at (-0.06, 0.08, 0.30) is out of map bounds. So, the costmap cannot raytrace for it. Is there a way to localize the robot easily? Thanks! |
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Administrator
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Hi,
Using AMCL, I think you have to put a guess first in the map using RVIZ. When the robot will move, the localization approximation should be more accurate. See "Localize the TurtleBot" on the turtlebot AMCL tutorial page. Make sure the simulated environment corresponding to your map is started in Gazebo (it looks like Gazebo is not started in your log): http://wiki.ros.org/Robots/TurtleBot#turtlebot.2BAC8-Tutorials.2BAC8-indigo-1.Simulation cheers, Mathieu |
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