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UbiquityRobotics / move_basic

A minimal navigation node
BSD 3-Clause "New" or "Revised" License
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Measured moves in robot commander #32

Closed anfederman closed 6 years ago

anfederman commented 6 years ago

Prior to the January release measured moves ( turn right 90 degrees ) worked fine for both Loki and Magni,
Even though no waypoints could be set. Now measured moves only work if aruco detect is running on Magni, and not at all on Loki.

Something is not working and I suspect a change to this node.

jim-v commented 6 years ago

Can you run the command

rostopic list | grep move_base

After you give a move command and paste the output into this issue.

jim-v commented 6 years ago

Also, please send the output of 

apt-cache policy ros-kinetic-rosbridge-server

from the robots you have been testing on.

anfederman commented 6 years ago

apt-cache policy ros-kinetic-rosbridge-server ros-kinetic-rosbridge-server: Installed: 0.8.6-0xenial-20180105-183806-0800 Candidate: 0.8.6-0xenial-20180105-183806-0800 Version table: *** 0.8.6-0xenial-20180105-183806-0800 500 500 http://packages.ros.org/ros/ubuntu xenial/main armhf Packages 100 /var/lib/dpkg/status

anfederman commented 6 years ago

on boot. move_base topics: /rosbridge_ws/move_base/cancel /rosbridge_ws/move_base/feedback /rosbridge_ws/move_base/goal /rosbridge_ws/move_base/result /rosbridge_ws/move_base/status

now move basic or aruco connect so measured move commands in robot commander on loki don't work after loading aruc and move_basic:

/move_base/cancel /move_base/feedback /move_base/goal /move_base/result /move_base/status /move_base_simple/goal

I tried seeing if any topics were echoed while using the arrow keys, none were except status.

So I am not sure what's going on I also see: /rosbridge_ws/move_base/cancel /rosbridge_ws/move_base/feedback /rosbridge_ws/move_base/goal /rosbridge_ws/move_base/result /rosbridge_ws/move_base/status

/tf2_web_republisher/cancel /tf2_web_republisher/feedback /tf2_web_republisher/goal /tf2_web_republisher/result /tf2_web_republisher/status /tf_static

I was getting tf2 status, but none from rosbridge status.

I am guessing there are missing or incorrect transforms somewhere on Loki in the new loki_base

So arrow keys work, but measured move or set waypoint fails.

On RVIZ I gave a goal, and it tried to move:

status_list:

So I think move-basic ain't talking to move base politely.

jim-v commented 6 years ago

This is the problem:

/rosbridge_ws/move_base/cancel
/rosbridge_ws/move_base/feedback
/rosbridge_ws/move_base/goal
/rosbridge_ws/move_base/result
/rosbridge_ws/move_base/status

It looks like rosbridge is pre-pending its namespace to the topics.

Re: So I think move-basic ain't talking to move base politely.

There is no move_base in this setup -- move_basic implements its interface.

@jrlandau Can you change robot_commander to use the absolute name /move_base

anfederman commented 6 years ago

/move_base/cancel /move_base/feedback /move_base/goal /move_base/result /move_base/status /move_base_simple/goal /tf /tf2_web_republisher/cancel /tf2_web_republisher/feedback /tf2_web_republisher/goal /tf2_web_republisher/result /tf2_web_republisher/status

with rosbridge removed robot commander doesn't work at all. Connects, but no movement even with arrow keys, though keyboard teleop works. do we remap move_base to tf2???

rohbotics commented 6 years ago

@anfederman Rosbridge is required for robot_commander to be able to do anything.

The issue is that rosbridge is using topic names without a leading slash, once we put rosbridge into it's own namspace to handle both ws and wss, this meant that the topics were also namespaced, breaking the code.

@jrlandau can you make sure that all of the topic names in both robot commander and speech commands are fully qualified (aka start with a '/').

jrlandau commented 6 years ago

@jrlandau https://github.com/jrlandau can you make sure that all of the topic names in both robot commander and speech commands are fully qualified (aka start with a '/').

I did that for the references to move_base, but it did not fix the problem (measured move commands not working).

On Tue, Feb 13, 2018 at 1:59 PM, Rohan Agrawal notifications@github.com wrote:

@anfederman https://github.com/anfederman Rosbridge is required for robot_commander to be able to do anything.

The issue is that rosbridge is using topic names without a leading slash, once we put rosbridge into it's own namspace to handle both ws and wss, this meant that the topics were also namespaced, breaking the code.

@jrlandau https://github.com/jrlandau can you make sure that all of the topic names in both robot commander and speech commands are fully qualified (aka start with a '/').

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anfederman commented 6 years ago

I just tested robot commander on Magni. Measured moves no longer work, neither do set waypoint or go to goal. RVIZ 2d nav go to goal does work. Prior to this weekend, robot commander was working. What happened after the huddle? This makes no sense, since I did not update or upgrade my Magni or Robot commander since last week.

jrlandau commented 6 years ago

Do you do any launches when you bring the Magni up?

On Tue, Feb 13, 2018 at 4:23 PM, anfederman notifications@github.com wrote:

I just tested robot commander on Magni. Measured moves no longer work, neither do set waypoint or go to goal. RVIZ 2d nav go to goal does work. Prior to this weekend, robot commander was working. What happened after the huddle? This makes no sense, since I did not update or upgrade my Magni or Robot commander since last week.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/UbiquityRobotics/move_basic/issues/32#issuecomment-365452449, or mute the thread https://github.com/notifications/unsubscribe-auth/ADxmjGsrsXl35jaD1C8VGy3V-Gtp4Dj7ks5tUieDgaJpZM4SDxqS .

jim-v commented 6 years ago

@rohbotics I'm fairly sure we've tested Robot_Commander since the rosbridges were moved into namespaces, so I think it's something that changed in rosbridge_websocket recently. However, making all topics Robot_Commander uses absolute seems like it would make us immune to it.

jrlandau commented 6 years ago

There are some things that may or may not be considered "topics" but which need the same treatment. Here is a function I had to change:

    function setWaypoint (waypointName) {
  //
  // Sets a rosparam to contain the waypoint
  //
        if (connected) {
            var waypoint = new ROSLIB.Param({
                ros : ros,
                name : "/waypoint/" + waypointName
            });
            function setWaypointParam (location) {
                console.log ("Set waypoint " + waypoint.name + ": " +

location); waypoint.set(location); paramdump (); }; // console.log ("getting the current pose"); getPose (setWaypointParam); } }

On Tue, Feb 13, 2018 at 5:44 PM, Jim Vaughan notifications@github.com wrote:

@rohbotics https://github.com/rohbotics I'm fairly sure we've tested Robot_Commander since the rosbridges were moved into namespaces, so I think it's something that changed in rosbridge_websocket recently. However, making all topics Robot_Commander uses absolute seems like it would make us immune to it.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/UbiquityRobotics/move_basic/issues/32#issuecomment-365468229, or mute the thread https://github.com/notifications/unsubscribe-auth/ADxmjPyPIBXoGdADJLqMyaxrFYmTHmy1ks5tUjpggaJpZM4SDxqS .

jim-v commented 6 years ago

@anfederman tf2_web_repubisher also implements an actionlib interface, hence the topics:

/tf2_web_republisher/cancel
/tf2_web_republisher/feedback
/tf2_web_republisher/goal
/tf2_web_republisher/result
/tf2_web_republisher/status

They are not related to the namespace issue, which renames move_base topics to /rosbridge_ws/move_base. As mentioned, the fix is for Robot_Commander to use /move_base.

jim-v commented 6 years ago

@jrlandau sent me an updated APK file for Robot_Commander.

On the robot, which had magni_base service running, I ran

roslaunch magni_nav move_basic.launch

Then on my phone, using the old app, I gave the verbal command "forward one meter".

The robot did not move and the bogus topics appeared:

rostopic list | grep move_base
/rosbridge_ws/move_base/cancel
/rosbridge_ws/move_base/feedback
/rosbridge_ws/move_base/goal
/rosbridge_ws/move_base/result
/rosbridge_ws/move_base/status

Then, I installed the new app on my phone and restarted everything on the robot, to be in a clean state:

sudo service magni-base stop
sudo service magni-base start
roslaunch magni_nav move_basic.launch

Once again, I gave the verbal command "forward one meter".

This time, the bogus topics did not appear, and move_basic reported receiving the goal:

[ INFO] [1518674933.957489772]: Received goal 1.000000 0.000000 0.000000 base_link

The robot moved forward.

I am closing this issue. If there are issues with localization, they should be opened as new issues.