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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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Goals send via /move_base_simple do not work with MIR software version > 2.7 #60

Closed FaseehCS closed 4 years ago

FaseehCS commented 4 years ago

When I send goal to /move_base_simple, e.g through Rviz, MIR starts doing random orientations and does not go to the goal. There are two behaviours I found. In both behaviours, MIR just moves a little and starts oscillating. I have pasted the system log for both the behaviours. In the first behaviour, there was no error but in the second behaviour, I received an error 1) 

MC | Setting parameter using command: ^KD 2 2 | 17:53:07
-- | -- | --
  | MC | Setting parameter using command: ^KI 2 7 | 17:53:07
  | MC | Setting parameter using command: ^KP 2 4 | 17:53:07
  | MC | Setting parameter using command: ^KD 1 2 | 17:53:07
  | MC | Setting parameter using command: ^KI 1 7 | 17:53:07
  | MC | Setting parameter using command: ^KP 1 4 | 17:53:07
  | move_base_node | MirLocalPlanner: State change 'TurnToGoal' -> 'Stopping' | 17:53:07
  | move_base_node | MirLocalPlanner: State change 'GoalSearch' -> 'TurnToGoal' | 17:53:04
  | move_base_node | MirLocalPlanner: State change 'FollowPath' -> 'GoalSearch' | 17:53:03
  | move_base_node | MirLocalPlanner: State change 'TurnToTarget' -> 'FollowPath' | 17:53:03
  | move_base_node | MirLocalPlanner: State change 'FollowPath' -> 'TurnToTarget' | 17:52:59
  | move_base_node | Clearing segment with index = 0 | 17:52:59
  | move_base_node | MirLocalPlanner: State change 'TurnToTarget' -> 'FollowPath' | 17:52:58
  | move_base_node | MirLocalPlanner: State change 'Stopping' -> 'TurnToTarget' | 17:52:58
  | move_base_node | MirLocalPlanner: State change 'TurnToTarget' -> 'Stopping' | 17:52:58
  | move_base_node | mirLocalPlanner: Got new plan - Length: 0.235928, Segments: 2 - Starting with forward motion | 17:52:58
  | move_base_node | MirLocalPlanner: Got new plan from (43.9417, 5.9917, 0.7854) to (43.95, 6.1, 0.0322469) | 17:52:58
  | move_base_node | SBPLPlanner: Succesfully created plan - Total time: 0.034 seconds - Total expands: 362 - Expands pr sec: 10672.7 - Final epsilon: 1.00 | 17:52:58
  | move_base_node | SBPLPlanner: Making plan from (43.94, 5.99, 37.5) to (43.95, 6.10, 1.8) | 17:52:58
  | move_base_node | ** MirEscapeRecovery: Succeded! ** | 17:52:58
  | move_base_node | ** MirEscapeRecovery: Trying to escape.. ** | 17:52:57
  | move_base_node | ** MirEscapeRecovery: Trying to escape.. ** | 17:52:56
  | move_base_node | ** MirEscapeRecovery: Trying to escape.. ** | 17:52:55
  | move_base_node | ** MirEscapeRecovery: Trying to escape.. ** | 17:52:54
  | move_base_node | ** MirEscapeRecovery started! ** | 17:52:53
  | move_base_node | MirLocalPlanner: State change 'Stopping' -> 'TurnToTarget' | 17:52:53
  | move_base_node | MirLocalPlanner: State change 'TurnToTarget' -> 'Stopping' | 17:52:53
  | move_base_node | mirLocalPlanner: Got new plan - Length: 0.349652, Segments: 1 - Starting with backwards motion | 17:52:53
  | move_base_node | MirLocalPlanner: Got new plan from (44.225, 6.175, 0.3927) to (43.95, 6.1, 0.0322469) | 17:52:53
  | move_base_node | SBPLPlanner: Succesfully created plan - Total time: 0.038 seconds - Total expands: 1218 - Expands pr sec: 31990.3 - Final epsilon: 1.00 | 17:52:53
  | move_base_node | SBPLPlanner: Making plan from (44.23, 6.19, 33.8) to (43.95, 6.10, 1.8) | 17:52:53
  | move_base_node | ** MirEscapeRecovery: Succeded! ** | 17:52:53
  | move_base_node | ** MirEscapeRecovery: Trying to escape.. ** | 17:52:53
  | move_base_node | ** MirEscapeRecovery: Trying to escape.. ** | 17:52:52
  | move_base_node | ** MirEscapeRecovery: Trying to escape.. ** | 17:52:51
  | move_base_node | ** MirEscapeRecovery: Trying to escape.. ** | 17:52:50
  | move_base_node | ** MirEscapeRecovery started! ** | 17:52:50
  | move_base_node | MirLocalPlanner: State change 'Stopping' -> 'TurnToTarget' | 17:52:50
  | move_base_node | MirLocalPlanner: State change 'Stopping' -> 'Stopping' | 17:52:50
  | move_base_node | mirLocalPlanner: Got new plan - Length: 0, Segments: 1 - Starting with forward motion | 17:52:50
  | move_base_node | MirLocalPlanner: Got new plan from (43.95, 6.1, 0.0322469) to (43.95, 6.1, 0.0322469) | 17:52:50
  | move_base_node | SBPLPlanner: Succesfully created plan - Total time: 0.008 seconds - Total expands: 583 - Expands pr sec: 76093.4 - Final epsilon: 1.00 | 17:52:50
  | move_base_node | SBPLPlanner: Making plan from (43.93, 6.10, 1.7) to (43.95, 6.10, 1.8) | 17:52:50

2)

MC | Setting parameter using command: ^KD 2 2 | 17:55:36
-- | -- | --
  | MC | Setting parameter using command: ^KI 2 7 | 17:55:36
  | MC | Setting parameter using command: ^KP 2 4 | 17:55:36
  | MC | Setting parameter using command: ^KD 1 2 | 17:55:36
  | MC | Setting parameter using command: ^KI 1 7 | 17:55:36
  | MC | Setting parameter using command: ^KP 1 4 | 17:55:36
  **| move_base_node | Aborting because the robot appears to be oscillating over and over. Even after executing all recovery behaviors | 17:55:36**
  | move_base_node | MirLocalPlanner: State change 'Stopping' -> 'TurnToTarget' | 17:55:36
  | move_base_node | MirLocalPlanner: State change 'TurnToTarget' -> 'Stopping' | 17:55:36
  | move_base_node | mirLocalPlanner: Got new plan - Length: 0.337848, Segments: 1 - Starting with backwards motion | 17:55:36
  | move_base_node | MirLocalPlanner: Got new plan from (44.225, 6.025, -0.392685) to (43.95, 6.1, 0.0322469) | 17:55:36
  | move_base_node | SBPLPlanner: Succesfully created plan - Total time: 0.031 seconds - Total expands: 1104 - Expands pr sec: 36003.7 - Final epsilon: 1.00 | 17:55:36
  | move_base_node | SBPLPlanner: Making plan from (44.23, 6.01, -34.2) to (43.95, 6.10, 1.8) | 17:55:36
  | move_base_node | ** MirEscapeRecovery: Succeded! ** | 17:55:36
  | move_base_node | ** MirEscapeRecovery: Trying to escape.. ** | 17:55:36
  | move_base_node | ** MirEscapeRecovery: Trying to escape.. ** | 17:55:34
  | move_base_node | ** MirEscapeRecovery: Trying to escape.. ** | 17:55:33
  | move_base_node | ** MirEscapeRecovery: Trying to escape.. ** | 17:55:32
  | move_base_node | ** MirEscapeRecovery started! ** | 17:55:32
  | move_base_node | MirLocalPlanner: State change 'Stopping' -> 'TurnToTarget' | 17:55:32
  | move_base_node | MirLocalPlanner: State change 'Stopping' -> 'Stopping' | 17:55:32
  | move_base_node | mirLocalPlanner: Got new plan - Length: 0, Segments: 1 - Starting with forward motion | 17:55:32
  | move_base_node | MirLocalPlanner: Got new plan from (43.95, 6.1, 0.0322469) to (43.95, 6.1, 0.0322469) | 17:55:32
  | move_base_node | SBPLPlanner: Succesfully created plan - Total time: 0.009 seconds - Total expands: 583 - Expands pr sec: 65685.9 - Final epsilon: 1.00 | 17:55:32
  | move_base_node | SBPLPlanner: Making plan from (43.94, 6.10, 1.5) to (43.95, 6.10, 1.8) | 17:55:32

Did you encounter this problem in the previous versions of MIR<= 2.3? If yes, any solutions?

mintar commented 4 years ago

Please see #45. For now, you would have to use the branch melodic-2.8, but I'm planning to incorporate this into the main kinetic/melodic/noetic branches at the end of next month after vacation time is over.

matthias-mayr commented 4 years ago

Just for clarification: this happens with the changes in melodic-2.8. It was posted separately since such issues can be hard to track down and #45 might not benefit from the introduction of another subtopic.

Another piece of information that can be added is that MIR works as expected if one sends goals through the /move_base action. So in the worst worst case mir_bridge can subscribe to /move_base_simple on the computer side and translate it to an action.

mintar commented 4 years ago

Ok, thanks for the clarification! I'm reopening this issue.

So in the worst worst case mir_bridge can subscribe to /move_base_simple on the computer side and translate it to an action.

Yes, this is probably necessary. PR welcome!

mintar commented 4 years ago

Closed via #62 .