Posted by
baike960 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Some-confusion-about-navigation-tp3692p3705.html
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:11311core 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!