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ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
Apache License 2.0
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multi-turtlebot3 navigation in real environment #362

Closed wx0205 closed 5 years ago

wx0205 commented 5 years ago

ISSUE TEMPLATE ver. 0.2.0

  1. Which TurtleBot3 you have?

    • [ ] Burger
    • [ ] Waffle
    • [√ ] Waffle Pi

  2. Which SBC(Single Board Computer) is working on TurtleBot3?

    • [√ ] Raspberry Pi 3
    • [ ] Intel Joule 570x
    • [ ] etc (PLEASE, WRITE DOWN YOUR SBC HERE)

  3. Which OS you installed in SBC?

    • [√ ] Ubuntu MATE 16.04 or later
    • [ ] Raspbian
    • [ ] etc (PLEASE, WRITE DOWN YOUR OS)

  4. Which OS you installed in Remote PC?

    • [√ ] Ubuntu 16.04 LTS (Xenial Xerus)
    • [ ] Ubuntu 18.04 LTS (Bionic Beaver)
    • [ ] Linux Mint 18.x
    • [ ] etc (PLEASE, WRITE DOWN YOUR OS)

  5. Write down software version and firmware version

    Software version: [1.12.14] Firmware version: [1.2.3]

  6. Write down the commands you used in order

    • roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

  7. Copy and Paste your error message on terminal When I run turtlebot3 navigation, the output like this:

    • [ INFO] [1532580173.243852203]: Got new plan [ WARN] [1532580173.245276133]: DWA planner failed to produce path. [ INFO] [1532580173.443843662]: Got new plan [ WARN] [1532580173.445304680]: DWA planner failed to produce path. [ WARN] [1532580173.643893361]: Clearing costmap to unstuck robot (3.000000m). [ INFO] [1532580174.043834647]: Got new plan [ WARN] [1532580174.045632208]: DWA planner failed to produce path. [ WARN] [1532580174.243951804]: Rotate recovery behavior started. [ERROR] [1532580174.244415898]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00 [ INFO] [1532580174.643841480]: Got new plan [ WARN] [1532580174.645396002]: DWA planner failed to produce path. [ WARN] [1532580174.843851086]: Clearing costmap to unstuck robot (1.840000m). [ INFO] [1532580175.243841053]: Got new plan [ WARN] [1532580175.245196120]: DWA planner failed to produce path. [ WARN] [1532580175.443900326]: Rotate recovery behavior started. [ERROR] [1532580175.444206757]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00 [ INFO] [1532580175.843830584]: Got new plan [ WARN] [1532580175.845862800]: DWA planner failed to produce path. [ERROR] [1532580176.043937473]: Aborting because a valid control could not be found. Even after executing all recovery behaviors

  8. Please, describe detailedly what difficulty you are in When I run navigation with turtlebot3 in real environment. In rviz, it can get a path, however, the turtlebot3 don't move, and the output in terminal like this. How can I solve this? Thanks!

kijongGil commented 5 years ago

Hi, @wx0205 :) I'm sorry for late reply. This log '[ERROR] [1532580175.444206757]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.0' means that there are potential collisions nearby turtlebot3. So, turtlebot3 can't rotate and fails making path.

If you show me the rviz, I can understand the problem in more detail.

Thanks, Gilbert.

wx0205 commented 5 years ago

Thank you very mach! I got that when I had trid it many times. However, when I run the package of multi-turtlebot3 navigation which I wrote. I do like this: [PC] roscore [turtlebot3] roslaunch turtlebot3_bringup multi_robot.launch [PC] roslaunch navigation_wx navigation_multi.launch map_file:=$HOME/map.yaml

I got tf, there are /tb3_2/base_footprint->/tb3_2/base_link, /tb3_3/base_footprint->/tb3_3/base_link, /tb3_4/base_footprint->/tb3_4/base_link, odom->footprint

I think there are odom->footprint for each turtlebot3, however, I can't get it. I send goals for each turtlebot3 and want them navigate Independently in real environment. Can you give me some advise? Thank you!

navigation_multi.launch:

<launch>
  <!-- Arguments -->
  <arg name="model" default="waffle_pi" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="open_rviz" default="true"/>
  <arg name="map_file" default="$(find navigation_wx)/maps/map.yaml"/>
  <arg name="robot_1"  default="tb3_2" />
  <arg name="robot_2"  default="tb3_3" />
  <arg name="robot_3"  default="tb3_4" />

  <param name="/use_sim_time" value="false"/>

  <!-- Map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
     <param name="frame_id" value="/map" /> 
  </node>

  <!--  *******first turtlebot3: named tb3_2*********  -->
  <group ns="$(arg robot_1)">
   <param name="tf_prefix" value="$(arg robot_1)" />

   <!-- Map server -->
    <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
       <param name="frame_id" value="map" /> 
   </node>

   <!-- Turtlebot3 --> 
   <include file="$(find navigation_wx)/launch/robot_model.launch">
      <arg name="model" value="$(arg model)" />
      <!-- arg name="robot_name" value="$(arg robot_1)" --> 
   </include>

   <!-- AMCL -->
   <include file="$(find navigation_wx)/launch/multi_amcl.launch">
      <arg name="robot_name" value="S(arg robot_1)" />
   </include>

   <!-- move_base -->
   <include file="$(find navigation_wx)/launch/move_base.launch">
      <arg name="model" value="$(arg model)" />
   </include>
  </group>

  <!--  *******second turtlebot3: named tb3_3*********  -->
  <group ns="$(arg robot_2)">
    <param name="tf_prefix" value="$(arg robot_2)" />

    <!-- Map server -->
    <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
       <param name="frame_id" value="map" /> 
    </node>

    <!-- **Turtlebot3** --> 
    <include file="$(find navigation_wx)/launch/robot_model.launch">
      <arg name="model" value="$(arg model)" />
      <!-- arg name="robot_name" value="$(arg robot_2)" --> 
    </include>

    <!-- AMCL -->
    <include file="$(find navigation_wx)/launch/multi_amcl.launch">
         <arg name="robot_name" value="S(arg robot_2)" />
    </include>

    <!-- move_base -->
    <include file="$(find navigation_wx)/launch/move_base.launch">
       <arg name="model" value="$(arg model)" />
    </include>
  </group>

  <!--  *******third turtlebot3: named tb3_4*********  -->
  <group ns="$(arg robot_3)">
    <param name="tf_prefix" value="$(arg robot_3)" />

    <!-- **Turtlebot3** --> 
    <include file="$(find navigation_wx)/launch/robot_model.launch">
      <arg name="model" value="$(arg model)" />
      <!-- arg name="robot_name" value="$(arg robot_3)" --> 
    </include>

    <!-- Map server -->
    <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
       <param name="frame_id" value="map" /> 
    </node>

    <!-- AMCL -->
    <include file="$(find navigation_wx)/launch/multi_amcl.launch">
       <arg name="robot_name" value="S(arg robot_3)" />
    </include>

    <!-- move_base -->
    <include file="$(find navigation_wx)/launch/move_base.launch">
       <arg name="model" value="$(arg model)" />
    </include>
  </group>

  <!-- rviz -->

  <group if="$(arg open_rviz)"> 
    <node name="rviz" pkg="rviz" type="rviz" 
       args="-d $(find navigation_wx)/rviz/navigation.rviz"  output="screen"/> 
  </group>

  <!-- sendgoals -->
<!--
  <group ns="$(arg robot_1)">
     <node pkg="navigation_wx" name="simple_navigation_goals" type="simple_navigation_goals" />
  </group>
-->

  <group ns="$(arg robot_2)">
     <node pkg="navigation_wx" name="simple_navigation_goals" type="simple_navigation_goals" />
  </group>

  <group ns="$(arg robot_3)">
     <node pkg="navigation_wx" name="simple_navigation_goals" type="simple_navigation_goals" />
  </group>
</launch>

There are many warnings, like this in terminal: [ WARN] [1546396297.896319112]: Timed out waiting for transform from tb3_2/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100459 timeout was 0.1. [ WARN] [1546396297.941585960]: Timed out waiting for transform from tb3_3/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.10052 timeout was 0.1. [ WARN] [1546396297.990269168]: Timed out waiting for transform from tb3_4/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100729 timeout was 0.1. [ WARN] [1546396302.924653309]: Timed out waiting for transform from tb3_2/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100198 timeout was 0.1. [ WARN] [1546396302.973580408]: Timed out waiting for transform from tb3_3/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100244 timeout was 0.1. [ WARN] [1546396303.019011502]: Timed out waiting for transform from tb3_4/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100783 timeout was 0.1. [ WARN] [1546396307.360798518]: No laser scan received (and thus no pose updates have been published) for 1546396307.360766 seconds. Verify that data is being published on the /tb3_2/scan topic. [ WARN] [1546396307.380160518]: No laser scan received (and thus no pose updates have been published) for 1546396307.380122 seconds. Verify that data is being published on the /tb3_3/scan topic. [ WARN] [1546396307.382364806]: No laser scan received (and thus no pose updates have been published) for 1546396307.382334 seconds. Verify that data is being published on the /tb3_4/scan topic. [ WARN] [1546396307.954685441]: Timed out waiting for transform from tb3_2/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101053 timeout was 0.1. [ WARN] [1546396308.008738056]: Timed out waiting for transform from tb3_3/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101109 timeout was 0.1. [ WARN] [1546396308.048448610]: Timed out waiting for transform from tb3_4/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100122 timeout was 0.1. [ WARN] [1546396308.415217030]: MessageFilter [target=map ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_notifier] rosconsole logger to DEBUG for more information. [ WARN] [1546396312.933247231]: MessageFilter [target=S(arg robot_3)/odom ]: Dropped 100.00% of messages so far. Please turn the [ros.amcl.message_notifier] rosconsole logger to DEBUG for more information. [ WARN] [1546396312.989734395]: Timed out waiting for transform from tb3_2/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100655 timeout was 0.1. [ WARN] [1546396313.037830253]: Timed out waiting for transform from tb3_3/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100037 timeout was 0.1. [ WARN] [1546396313.076757104]: Timed out waiting for transform from tb3_4/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100019 timeout was 0.1.

kijongGil commented 5 years ago

This log is occurs when TF is incorrect. You can check TF tree in rqt. You have to set TF tree as map -> tb3#/odom -> tb3#/base_footprint -> .... Refer to this

wx0205 commented 5 years ago

Thank you very much! I work hard on this, however, I have no idea how to realize the TF tree. Can you give me some advise in detail? Really appreciate for your great help.

kijongGil commented 5 years ago

You can run the TF tree with the following command. rosrun rqt_tf_tree rqt_tf_tree

The original TF tree of turtlebot3 is map -> odom -> base_footprint -> etc.... But, If you want to run multi navigation, you have to make each name space as like tb3_1, tb3_2, etc... and then add to group ns in each turtlebot3_remote.launch.

wx0205 commented 5 years ago

I wrote the multi_robot.launch on turtlebot3: `

`

When I do this on PC:

roslaunch navigation_wx navigation_multi.launch

I can get tf : tb3_#/basefootprint -> tb3#/base_link

When I do like this:

[PC] roscore [turtlebot3] roslaunch turtlebot3_bringup multi_robot.launch [PC] roslaunch navigation_wx navigation_multi.launch map_file:=$HOME/map.yaml

I see there is only adding odom -> base_footprint in tf compared with before . There is not have map in tf. So what I should do to configure the turtlebot3 except modifying ns and tf_prefix.

Thank you very much!

wx0205 commented 5 years ago

I have got the tf : map -> tb3#/odom -> tb3#/basefootprint -> tb3#/base_link, however, when I send goals in RVIZ, the turtlebot3 can't reach the goal and can't avoid obstacle. Can you give me some advise? Thank you !

kijongGil commented 5 years ago

You means that when you send goal in Rviz, turtlebot3 can move but can't reach goal and avoid obstacle?

wx0205 commented 5 years ago

I use the map reconstructed by SLAM, and I use "map" to be the frame_id to send goals by my codes or send goals in RVIZ, turtlebot3 can move but can't reach goal and avoid obstacle. Maybe the frames can't transform correctly. When I check the nodes and topics, the move_base didn't subscribe the scan, but I can't modify it. So maybe I need your help. I am very grateful for your help!

kijongGil commented 5 years ago

I'm sorry for late reply. How did you use navigation param files? If you want to run three turtlebot3, you need to three navigation param files. and modified each namespace/scan. For example, In costmap_common_params_burger.yaml, there is scan param. you have to modified sensor_frame from basescan to tb3#/basescan and topic from scan to tb3#/scan. Beside amcl.launch also modifed to adding namespace scan, odom and base_footprint.

kijongGil commented 5 years ago

This issue will be closed since there were no actions for a while. You can reopen this issue to show this issue to the users whenever. Thanks.

ho0-kim commented 5 years ago

I have got the tf : map -> tb3#/odom -> tb3#/basefootprint -> tb3#/base_link, however, when I send goals in RVIZ, the turtlebot3 can't reach the goal and can't avoid obstacle. Can you give me some advise? Thank you !

@wx0205 Hi, I'm struggling for solving the same issue that there is no map topic in tf tree when I try multiple turtlebot spawning. Can you share your code or solution on it? I want to get some help from you. It would be appreciated so much.

Jason-Zhou1 commented 4 years ago

Hi wx0205, I have seen your comment on "Jan 2, 2019". I want to launch a file similar to your navigation_mutli.launch, but i don't know the content of "multi_amcl.launch" and "move_base.launch". Especially, i don't know if there are any more items besides odom and base_footprint that need to be put into namespace. Can you please show me your files and give me some advice? Thank you!

wx0205 commented 4 years ago

I'm sorry. I can't show the files now because they don't exist in my pc. In my opinion, in the file of navigation_multi.launch, you need include the files of amcl and move_base of each robot in different namespaces. And you can use the tree of nodes to see all nodes in different namespaces.

At 2020-04-08 10:30:39, "Jason-Zhou1" notifications@github.com wrote:

Hi wx0205, I have seen your comment on "Jan 2, 2019". I want to launch a file similar to your navigation_mutli.launch, but i don't know the content of "multi_amcl.launch" and "move_base.launch". Especially, i don't know if there are any more items besides odom and base_footprint that need to be put into namespace. Can you please show me your files and give me some advice? Thank you!

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or unsubscribe.

Jason-Zhou1 commented 4 years ago

Thanks wx0205 for rely. I have written a amcl launch file for the robot_1 as following:

Is there any problem for this file? Why can't i move the robot using "2D Nav Goal" button in Rviz?

Jason-Zhou1 commented 4 years ago
Jason-Zhou1 commented 4 years ago

The content of the launch file is attached. Thanks! amcl_1.txt

Jason-Zhou1 commented 4 years ago

I also attached the move_base1.launch for robot_1. I don't know if i need to change /cmd_vel into robot_1/cmd_vel. move_base1.launch.txt

How can i modify the amcl and move_base launch files so that i drive the multi robots by clicking "2D Nav Goal" button in Rviz? Thanks in advance!

ROBOTIS-Will commented 4 years ago

@Jason-Zhou1 You should also change the cmd_vel so that specific topic can be delivered to designated robot. The move_base launch file loads costmap parameters, and it is recommended to create separate yaml files for each turtlebot such as local_costmap_params_robot_1.yaml. In the costmap param files, all the frame and topic should refer to each robot. In case of local_costmap_params.yaml,

local_costmap:
  global_frame: /robot_1/odom
  robot_base_frame: /robot_1/base_footprint
...

However, the global frame in the global costmap should be using map as its frame id as below.

global_costmap:
  global_frame: map
  robot_base_frame: /robot_1/base_footprint
...

The costmap_common_params_burger file should also be modified as

...
scan: {sensor_frame: /robot_1/base_scan, data_type: LaserScan, topic: /robot_1/scan, marking: true, clearing: true}

Please also refer to this issue #517 Thank you.

Jason-Zhou1 commented 4 years ago

@ROBOTIS-Will Thank you very much for your advice!

Zuhair-A-Ahmed commented 5 months ago

@Jason-Zhou1 You should also change the cmd_vel so that specific topic can be delivered to designated robot. The move_base launch file loads costmap parameters, and it is recommended to create separate yaml files for each turtlebot such as local_costmap_params_robot_1.yaml. In the costmap param files, all the frame and topic should refer to each robot. In case of local_costmap_params.yaml,

local_costmap:
  global_frame: /robot_1/odom
  robot_base_frame: /robot_1/base_footprint
...

However, the global frame in the global costmap should be using map as its frame id as below.

global_costmap:
  global_frame: map
  robot_base_frame: /robot_1/base_footprint
...

The costmap_common_params_burger file should also be modified as

...
scan: {sensor_frame: /robot_1/base_scan, data_type: LaserScan, topic: /robot_1/scan, marking: true, clearing: true}

Please also refer to this issue #517 Thank you.

Dear @ROBOTIS-Will, After several days of trying to solve issues of real multi turtlebot3 demo. Ive not seen any issue has been solved completely. Still al the issue of :

  1. Base to Map frames
  2. Laser scanner issue (conflict between real data sensors(

Would you please clearly inform us if there is no way to demonstrate real mutli turtlebot3 project at all ?

Thanks and regards,