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micpalmia / youbot_ros_tools

A KUKA youBot description for ROS.
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2dnav depends on a map.yaml file #14

Open esonderegger opened 10 years ago

esonderegger commented 10 years ago

Hi, First off, I want to say thank you for these very helpful packages. When I try to run the move_base.launch file from the youbot_2dnav package, I get an error when the map_server node tries to look for "$(find empty_room)/map/map.yaml".

I see an empty_room.world file in the youbot_gazebo package, but nothing that looks like a map.yaml file. Is that something I should have from a related install?

Thanks, Evan

micpalmia commented 10 years ago

Hi Evan, sorry for the time you spent on this and thank you for figuring out the problem.

I precomputed an occupancy grid (map.pgm) to avoid performing slam every time on the same map, as I always use it for my experiments. I thought the raw occupancy grid did not belong in the youbot_gazebo package (well, it actually doesn't), so I moved it to its own package but then I did not include it in the repo.

For now I just included it and modified the relevant path in the launcher, hope everything works fine now. Let me know! mic

PS: You might find this link useful if it's the first time you use the ROS navigation stack. http://wiki.ros.org/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack

esonderegger commented 10 years ago

Hi Mic,

Thank you for the quick reply and the quick fix!

The occupancy grid loads exactly as expected in rviz and reflects the gazebo simulation after the base is driven around for a little while. I've still got some reading/learning to do because while I can set the current_goal in rviz, I can't seem to get it to execute.

I know I'm missing some important pieces, though, so I'm assuming the problem is on my end. For example, in order to keep the arm from exploding after being spawned in gazebo, I had to drastically increase the inertial values, but the teleop script can't move any of the arm joints (base_move, base_spin, and gripper commands all work fine, though).

I'm travelling until Saturday, and then on Sunday I'll be able to spend some time testing things on the real youbot. I'll let you know if I discover anything helpful.

Thanks again! Evan

On Tue, Dec 3, 2013 at 4:10 PM, Michele Palmia notifications@github.comwrote:

Hi Evan, sorry for the time you spent on this and thank you for figuring out the problem.

I precomputed an occupancy grid (map.pgm) to avoid performing slam every time on the same map, as I always use it for my experiments. I thought the raw occupancy grid did not belong in the youbot_gazebo package (well, it actually doesn't), so I moved it to its own package but then I did not include it in the repo.

For now I just included it and modified the relevant path in the launcher, hope everything works fine now. Let me know! mic

PS: You might find this link useful if it's the first time you use the ROS navigation stack.

http://wiki.ros.org/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack

— Reply to this email directly or view it on GitHubhttps://github.com/micpalmia/youbot_ros_tools/issues/14#issuecomment-29751676 .

micpalmia commented 10 years ago

I'd be glad to hear any update about the issues you got.

As I'm graduating in the next few days, I did not update the ros_control and the Gazebo package in quite a long time, to avoid the model breaking down. I know that with the new versions things might not be fully working any more, but we fortunately have a few people taking up the project in the next few weeks.

I hope we'll have the model back up and running correctly in the next few months, and any help on solving the various issues would be grately appreciated.