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ai-winter / ros_motion_planning

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.
GNU General Public License v3.0
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Another map #41

Closed muratokusluk closed 8 months ago

muratokusluk commented 8 months ago

Hello,

I would like to execute these algorithms my own world. Can you tell me what I have to do? I created world and map according to gmapping and rviz file. I use turtlebot3 waffle. Thank you for your supports.

ai-winter commented 8 months ago

Hello, @muratokusluk

Please follow the configuration document to change the map option.

muratokusluk commented 8 months ago

I handle map file. Thank you. But now I got errors when I chose to 2D nav goal. What am I doing wrong?

[ERROR] [1704830358.782024235, 3206.997000000]: Failed to get a path. [ERROR] [1704830358.900934445, 3207.100000000]: Failed to get a path. [ERROR] [1704830359.017752799, 3207.211000000]: Failed to get a path. [ERROR] [1704830359.111237220, 3207.289000000]: Failed to get a path. [ERROR] [1704830359.225753013, 3207.395000000]: Failed to get a path. [ERROR] [1704830359.339621179, 3207.507000000]: Failed to get a path. [ERROR] [1704830359.442339812, 3207.596000000]: Failed to get a path. [ERROR] [1704830359.553086547, 3207.701000000]: Failed to get a path. [ERROR] [1704830359.656893758, 3207.798000000]: Failed to get a path. [ WARN] [1704830359.747015898, 3207.883000000]: Rotate recovery behavior started. [ERROR] [1704830366.803094682, 3214.399000000]: Failed to get a path. [ERROR] [1704830366.907634280, 3214.498000000]: Failed to get a path. [ERROR] [1704830367.013929708, 3214.597000000]: Failed to get a path. [ERROR] [1704830368.205782132, 3215.723000000]: Failed to get a path. [ERROR] [1704830368.891889679, 3216.392000000]: Failed to get a path. [ERROR] [1704830368.918655234, 3216.417000000]: Failed to get a path. [ERROR] [1704830369.016950363, 3216.503000000]: Failed to get a path. [ERROR] [1704830369.115881854, 3216.600000000]: Failed to get a path. [ERROR] [1704830369.225033723, 3216.706000000]: Failed to get a path. [ERROR] [1704830369.328452318, 3216.800000000]: Failed to get a path. [ERROR] [1704830369.429938800, 3216.897000000]: Failed to get a path. [ERROR] [1704830369.539915518, 3217.002000000]: Failed to get a path. [ERROR] [1704830369.637656495, 3217.098000000]: Failed to get a path. [ERROR] [1704830369.752792875, 3217.204000000]: Failed to get a path. [ERROR] [1704830369.852253753, 3217.299000000]: Failed to get a path. [ERROR] [1704830369.973568786, 3217.403000000]: Failed to get a path. [ERROR] [1704830370.086818047, 3217.515000000]: Failed to get a path. [ERROR] [1704830370.182765852, 3217.614000000]: Failed to get a path. [ERROR] [1704830370.273904179, 3217.702000000]: Failed to get a path. [ERROR] [1704830370.378910423, 3217.802000000]: Failed to get a path. [ERROR] [1704830370.484822318, 3217.907000000]: Failed to get a path. [ERROR] [1704830370.579542554, 3217.999000000]: Failed to get a path. [ERROR] [1704830370.686654139, 3218.106000000]: Failed to get a path. [ERROR] [1704830370.792321131, 3218.204000000]: Failed to get a path. [ERROR] [1704830370.896137860, 3218.307000000]: Failed to get a path. [ERROR] [1704830370.993171797, 3218.401000000]: Failed to get a path. [ERROR] [1704830371.096758836, 3218.501000000]: Failed to get a path. [ERROR] [1704830371.199381606, 3218.601000000]: Failed to get a path. [ERROR] [1704830371.293951958, 3218.695000000]: Failed to get a path. [ERROR] [1704830371.401329405, 3218.799000000]: Failed to get a path. [ERROR] [1704830371.502513371, 3218.895000000]: Failed to get a path. [ERROR] [1704830371.610018387, 3218.996000000]: Failed to get a path. [ERROR] [1704830371.719156768, 3219.101000000]: Failed to get a path. [ERROR] [1704830371.818638701, 3219.195000000]: Failed to get a path. [ERROR] [1704830371.927192710, 3219.298000000]: Failed to get a path. [ERROR] [1704830372.028787335, 3219.391000000]: Failed to get a path. [ERROR] [1704830372.123331119, 3219.485000000]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors

ai-winter commented 8 months ago

@muratokusluk Please provide more details about the map you used and navigation process.

muratokusluk commented 8 months ago

@ai-winter,

First I created ".world" file and then cloned the turtlebot3 repo on my PC. I opened 3 terminals.

First terminal I enter this command --> roslaunch flat_terrain_sim flat_terrain_map.launch --> Just opened world in Gazebo Second terminal I enter: roslaunch turtlebot3_slam turtlebot3_slam.launch Third Terminal I enter: roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

I moved my robot on the map and created it according to gmappping algorithm. Then opened another terminal and enter this command: rosrun map_server map_saver -f ~/workspace/src/flat_terrain_sim/maps/terrain

After that command generated ".yaml" and ".pgm" files.

I cloned your repo, created terrain folder at sim_env/maps/terrain, and copied ".yaml" and ".pgm" I copied ".world" file at sim_env/worlds/

Enter that command: catkin_make I modified user_config.yaml like

map: "terrain" world: "terrain" rviz_file: "sim_env.rviz"

robots_config:

Maybe, I should execute roslaunch turtlebot3_navigation turtlebot3_navigation.launch for localization (amcl). I just want to see algorithms on my map. What do I have to do? Thank you for your support.

muratokusluk commented 8 months ago

image: /home/murat/workspace/src/flat_terrain_sim/maps/terrain.pgm resolution: 0.050000 origin: [-10.000000, -10.000000, 0.000000] negate: 0 occupied_thresh: 0.65 free_thresh: 0.196

This is my map .yaml file

ai-winter commented 8 months ago

@muratokusluk , so the system can operate normally in the default warehouse but fails on your custom map? If that's the case, please provide us with the map for further inspection.

muratokusluk commented 8 months ago

Hi,

Yes, thats the case. Here you are, thanks

Yang Haodong @.***>, 12 Oca 2024 Cum, 05:23 tarihinde şunu yazdı:

@muratokusluk https://github.com/muratokusluk , so the system can operate normally in the default warehouse but fails on your custom map? If that's the case, please provide us with the map for further inspection.

— Reply to this email directly, view it on GitHub https://github.com/ai-winter/ros_motion_planning/issues/41#issuecomment-1888325612, or unsubscribe https://github.com/notifications/unsubscribe-auth/AKDMQKIJS5PAEXMLCBOWRO3YOCNCJAVCNFSM6AAAAABBRACAECVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQOBYGMZDKNRRGI . You are receiving this because you were mentioned.Message ID: @.***>

muratokusluk commented 8 months ago

Hi @ai-winter,

Could you see my files I sent you? If you see, do you have any idea? Thanks

ai-winter commented 8 months ago

@muratokusluk

I have not received any files from you.

muratokusluk commented 8 months ago

flat_terrain_sim.zip

muratokusluk commented 8 months ago

Hi @ai-winter,

I sent the files. Thank you

ai-winter commented 8 months ago

@muratokusluk

I am unable to properly launch the simulation using your .world file because I am missing the necessary Gazebo models, such as tree_7. Please provide all the files at once to avoid wasting time.

muratokusluk commented 8 months ago

models.zip Sorry, All tree models are in the .zip file. Thanks

ai-winter commented 8 months ago

@muratokusluk

s shown in the figure, the system can operate normally. The reason for the inability to plan a path is that the obstacles are too closely spaced. Please modify the map.

image

muratokusluk commented 8 months ago

Thanks @ai-winter