Sending Goals with RTABMAP and move_base
Posted by aibrain on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Sending-Goals-with-RTABMAP-and-move-base-tp1789.html
Hi,
I'm attempting to put a navigation stack in place for the first time. Being new to this, I have barely tuned most parameters, relying instead on default settings from online tutorials etc.
Recap of my steps:
1) I mapped my office, created a database, and launched Rtabmapviz in localization mode. The localization seems to be working.
My launch file is included here for reference (I'm not using RVIZ even though the filename has that): rtabmap_rviz.launch
2) As the launch file indicates, I'm launching move_base customized with the following parameters:
base_local_planner_params.yaml
costmap_common_params.yaml
local_costmap_params.yaml
global_costmap_params.yaml
move_base launches and gets to this point:
3) Now that move base is running, and Rtabmapviz is running in localization, I find the ID of a destination node by hovering the mouse over it. Then I do Detection->Send Goal and pass the destination.
However the robot remains still, and nothing happens. Reviewing the Rtabmap output I see the following:
[0m[ INFO] [1472236190.849796586]: rtabmap: Rate=1.00s, Limit=0.000s, RTAB-Map=0.0519s, Maps update=0.0070s pub=0.0055s (local map=598, WM=598)[0m
[0m[ INFO] [1472236192.009414060]: Publishing next goal: 1901 -> xyz=2.384681,0.101888,-0.135162 rpy=-0.001140,-0.011145,0.443476[0m
[0m[ INFO] [1472236192.009532532]: rtabmap: Rate=1.00s, Limit=0.000s, RTAB-Map=0.0752s, Maps update=0.0086s pub=0.0078s (local map=598, WM=598)[0m
[0m[ INFO] [1472236193.090997165]: Publishing next goal: 1901 -> xyz=2.384681,0.101888,-0.135162 rpy=-0.001140,-0.011145,0.443476[0m
[0m[ INFO] [1472236193.091119626]: rtabmap: Rate=1.00s, Limit=0.000s, RTAB-Map=0.0612s, Maps update=0.0059s pub=0.0059s (local map=598, WM=598)[0m
[0m[ INFO] [1472236194.191680135]: Publishing next goal: 1901 -> xyz=2.384681,0.101888,-0.135162 rpy=-0.001140,-0.011145,0.443476[0m
[0m[ INFO] [1472236194.191806155]: rtabmap: Rate=1.00s, Limit=0.000s, RTAB-Map=0.0611s, Maps update=0.0075s pub=0.0071s (local map=598, WM=598)[0m
[0m[ INFO] [1472236195.263901258]: Publishing next goal: 1901 -> xyz=2.384681,0.101888,-0.135162 rpy=-0.001140,-0.011145,0.443476[0m
[0m[ INFO] [1472236195.264066398]: rtabmap: Rate=1.00s, Limit=0.000s, RTAB-Map=0.0507s, Maps update=0.0083s pub=0.0056s (local map=598, WM=598)[0m
[0m[ INFO] [1472236196.357349658]: Publishing next goal: 1901 -> xyz=2.384681,0.101888,-0.135162 rpy=-0.001140,-0.011145,0.443476[0m
[0m[ INFO] [1472236196.357418809]: rtabmap: Rate=1.00s, Limit=0.000s, RTAB-Map=0.0919s, Maps update=0.0004s pub=0.0012s (local map=598, WM=598)[0m
I also attempted labeling individual positions within the map and sending goals as labels, with no actionable result.
I figure the problem is either with the the setup of Rtabmap or move_base. Could these configurations help identify what the issue is?
Thanks
URL: http://official-rtab-map-forum.206.s1.nabble.com/Sending-Goals-with-RTABMAP-and-move-base-tp1789.html
Hi,
I'm attempting to put a navigation stack in place for the first time. Being new to this, I have barely tuned most parameters, relying instead on default settings from online tutorials etc.
Recap of my steps:
1) I mapped my office, created a database, and launched Rtabmapviz in localization mode. The localization seems to be working.
My launch file is included here for reference (I'm not using RVIZ even though the filename has that): rtabmap_rviz.launch
2) As the launch file indicates, I'm launching move_base customized with the following parameters:
base_local_planner_params.yaml
costmap_common_params.yaml
local_costmap_params.yaml
global_costmap_params.yaml
move_base launches and gets to this point:
3) Now that move base is running, and Rtabmapviz is running in localization, I find the ID of a destination node by hovering the mouse over it. Then I do Detection->Send Goal and pass the destination.
However the robot remains still, and nothing happens. Reviewing the Rtabmap output I see the following:
[0m[ INFO] [1472236190.849796586]: rtabmap: Rate=1.00s, Limit=0.000s, RTAB-Map=0.0519s, Maps update=0.0070s pub=0.0055s (local map=598, WM=598)[0m
[0m[ INFO] [1472236192.009414060]: Publishing next goal: 1901 -> xyz=2.384681,0.101888,-0.135162 rpy=-0.001140,-0.011145,0.443476[0m
[0m[ INFO] [1472236192.009532532]: rtabmap: Rate=1.00s, Limit=0.000s, RTAB-Map=0.0752s, Maps update=0.0086s pub=0.0078s (local map=598, WM=598)[0m
[0m[ INFO] [1472236193.090997165]: Publishing next goal: 1901 -> xyz=2.384681,0.101888,-0.135162 rpy=-0.001140,-0.011145,0.443476[0m
[0m[ INFO] [1472236193.091119626]: rtabmap: Rate=1.00s, Limit=0.000s, RTAB-Map=0.0612s, Maps update=0.0059s pub=0.0059s (local map=598, WM=598)[0m
[0m[ INFO] [1472236194.191680135]: Publishing next goal: 1901 -> xyz=2.384681,0.101888,-0.135162 rpy=-0.001140,-0.011145,0.443476[0m
[0m[ INFO] [1472236194.191806155]: rtabmap: Rate=1.00s, Limit=0.000s, RTAB-Map=0.0611s, Maps update=0.0075s pub=0.0071s (local map=598, WM=598)[0m
[0m[ INFO] [1472236195.263901258]: Publishing next goal: 1901 -> xyz=2.384681,0.101888,-0.135162 rpy=-0.001140,-0.011145,0.443476[0m
[0m[ INFO] [1472236195.264066398]: rtabmap: Rate=1.00s, Limit=0.000s, RTAB-Map=0.0507s, Maps update=0.0083s pub=0.0056s (local map=598, WM=598)[0m
[0m[ INFO] [1472236196.357349658]: Publishing next goal: 1901 -> xyz=2.384681,0.101888,-0.135162 rpy=-0.001140,-0.011145,0.443476[0m
[0m[ INFO] [1472236196.357418809]: rtabmap: Rate=1.00s, Limit=0.000s, RTAB-Map=0.0919s, Maps update=0.0004s pub=0.0012s (local map=598, WM=598)[0m
I also attempted labeling individual positions within the map and sending goals as labels, with no actionable result.
I figure the problem is either with the the setup of Rtabmap or move_base. Could these configurations help identify what the issue is?
Thanks
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