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MASKOR / maskor_navigation

maskor navigation stack based on sbpl lattice planner
GNU General Public License v2.0
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Instructions on how to install from the source of this sbpl #5

Closed abinashmeher999 closed 9 years ago

abinashmeher999 commented 9 years ago

So I saw this question and answer from ros answers.

You can view a working version for indigo here: https://github.com/MASKOR/maskor_navi...

Make sure you use both the sbpl and sbpl_lattice_planner from source from that repo, as the normal sbpl does not link libraries correctly for sbpl_lattice_planner use

I uninstalled the debian package that I installed (ros-indigo-sbpl), to avoid any errors that could have been caused because of duplicates. And I followed the instructions from sbpl/sbpl repo to install this package. There were some errors. Then I tried to install by catkin_make install --pkg sbpl after realising it is a catkin_package. This shows the following error.

abinashmeher999@JARVIS:~/agv$ catkin_make install --pkg sbpl
Base path: /home/abinashmeher999/agv
Source space: /home/abinashmeher999/agv/src
Build space: /home/abinashmeher999/agv/build
Devel space: /home/abinashmeher999/agv/devel
Install space: /home/abinashmeher999/agv/install
####
#### Running command: "make cmake_check_build_system" in "/home/abinashmeher999/agv/build"
####
####
#### Running command: "make install -j4 -l4" in "/home/abinashmeher999/agv/build/maskor_navigation/sbpl"
####
[100%] Built target sbpl
Install the project...
-- Install configuration: "Debug"
-- Installing: /home/abinashmeher999/agv/install/lib/pkgconfig/sbpl.pc
-- Installing: /home/abinashmeher999/agv/install/share/sbpl/cmake/sbplConfig.cmake
-- Installing: /home/abinashmeher999/agv/install/share/sbpl/cmake/sbplConfig-version.cmake
-- Installing: /home/abinashmeher999/agv/install/share/sbpl/package.xml
CMake Error at cmake_install.cmake:51 (FILE):
  file INSTALL cannot find
  "/home/abinashmeher999/agv/src/maskor_navigation/sbpl/InstallFiles/sbpl.pc".

make: *** [install] Error 1
Invoking "make install -j4 -l4" failed

Can you please give some clear instructions on what the answer meant.

nlimpert commented 9 years ago

The repo does not contain a valid install target. Instead you can simply invoke a catkin_make in your workspace after cloning the maskor_navigation repo in the src folder. The sbpl_lattice_planner then builds against the sbpl package and it works standalone. The used sbpl package is basically just a clone of the sbpl/sbpl repo but there is no need to install it. It's only there for the sbpl_lattice_planner.

nlimpert commented 9 years ago

Did that help you? What are you trying to do?

abinashmeher999 commented 9 years ago

Yes. Thanks for answering. I am facing other issues too, like SBPL Exceptions, due to unmatched resolutions. I am trying to get get a global planner that gives a pose associated global plan. So that planners like pose follower can get to work with that.

nlimpert commented 9 years ago

We had a similar issue with the resolution. The resolution in the motion primitive file has to match the resolution given by the costmap. Have a look at https://github.com/MASKOR/maskor_navigation/blob/master/sbpl/matlab/mprim/rover_16.m - there's a resolution noted (0.05) And then there's https://github.com/MASKOR/maskor_navigation/blob/master/sbpl_lattice_planner/launch/local_costmap_params_close.yaml which states that the costmap's resolution is also 0.05.

These are actual paramters we are using in a working environment.

You can also have a look at https://github.com/MASKOR/maskor_navigation/blob/master/sbpl_lattice_planner/launch/move_base_sbpl.launch - it's what launches the navigation for us (including sbpl_lattice_planner and pose_follower).

abinashmeher999 commented 9 years ago

Oh I see. That might be the issue. I will try it out. Thanks a lot! :smile: Also I guess there aren't any zero radius turns in the motion primitives? I have a robot that has a minimum radius of turn. I plan to make some primitives myself. Will the current primitives work with a tricycle like robot?

nlimpert commented 9 years ago

Yes we are working with carlike robots here which can't turn in place. The used primitives should work but you might want to tune the settings in pose_follower.cpp when you set up your own primitives as the current settings are made for our setup. Mind if I close this issue then? Feel free to ask further though ;)

You can also get in touch with us on gitter: https://gitter.im/MASKOR/maskor_navigation

abinashmeher999 commented 9 years ago

Yes. Thank You. You can close the issue for now. I am already in the gitter chatroom. ;)