How to use ros to send a goal, which is defined in mir's map?

DFKI-NI / mir_robot

ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.

BSD 3-Clause "New" or "Revised" License

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How to use ros to send a goal, which is defined in mir's map? #21

Closed flymaxty closed 5 years ago

flymaxty commented 5 years ago

Hi all, I'm trying to use rviz to send a goal to real mir robot, but it does not move. Looks like mir can not use ros to set a goal directly. Is there any way to send a goal to real mir robot in ros? Like mir mission etc..

Thank you!

mintar commented 5 years ago

It's possible to set a goal directly from RViz.

Follow the steps described under "Running the driver on the real robot" in the README. Especially, you have to make sure that you launch the "Planner" (i.e., move_base and amcl on the robot). If it isn't started, when you start the mir_driver, you'll get a warning that the topic move_base_simple/goal is not yet subscribed to by the MiR.
Start RViz, for example like this: rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz
In RViz, go to "Panels -> Tool Properties" and make sure that "2D Nav Goal -> Topic" is set to move_base_simple/goal.
Run rostopic info move_base_simple/goal and make sure that the MiR driver is subscribed to that topic, and RViz is publishing to it.
In RViz, make sure that "Global Options -> Fixed Frame" is set to "map".
In RViz, click "2D Pose Estimate", then click on the map.

rsr152 commented 5 years ago

Hi all,

I am seeing the same behavior -- the (real) robot does not move after clicking on a destination in RViz. All the settings, publications and subscriptions are in line with what @mintar has outlined above (screenshots attached). The map displayed in RViz as well as the position of the robot in the map are accurate.

The only step I did differently was: In RViz, I clicked "2D Nav Goal", then click on the map, as I have been doing in Gazebo. I have not yet tried clicking on "2D Pose Estimate" and then clicking on the map because I wanted to be cautious and not have the 65kg robot run crazy in the lab :)

Appreciate any help. As always, thank you!

Rahul

Screenshot_2019-05-16_09-21-30 Screenshot from 2019-05-16 09-20-17 Screenshot_2019-05-16_09-17-39

mintar commented 5 years ago

Which MiR software version do you use?
Are the clocks synchronized? You can check by running rosrun tf tf_monitor, as described in the README.

mpatil2716 commented 5 years ago

Hi all,

I am also seeing the same behavior too -- i am using simulation robot and it does not move after clicking on a destination in RViz. I followed all the instruction given in README and all the settings, publications and subscriptions are in line with what @mintar has outlined above (screenshots attached). The map displayed in RViz as well as the position of the robot in the map are accurate.

Gazebo Rostopic movebasesimplegoal RVIZ

Also is anyone has MiR500 or 1000 URDF package? Appreciate any help. As always, thank you!

rsr152 commented 5 years ago

Which MiR software version do you use?

Are the clocks synchronized? You can check by running rosrun tf tf_monitor, as described in the README.

I use MiR software 2.6.2
I checked the clocks synchronization and they seem to be OK with a max delay of 0.08s (screenshot attached)

Screenshot_2019-05-30_15-32-36

mintar commented 5 years ago

Could you give it a try with MiR software 2.3.1 or earlier? There is currently an incompatibility with MiR software versions greater than 2.3.1.