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naturerobots / move_base_flex

Move Base Flex: a backwards-compatible replacement for move_base
https://uos.github.io/mbf_docs/
BSD 3-Clause "New" or "Revised" License
456 stars 155 forks source link

mbf doesnt subscribe to my Laserscanner #119

Closed Salem-Guezguez closed 5 years ago

Salem-Guezguez commented 5 years ago

I find Mbf very awesome und I just watched your ROSCON video and I did really like it. I am now trying to use it on my robot( on Gazebo). I send a goal via Rviz und my robot start to move until the goal is reached. But sometimes my robot makes some collision und doesnt notice that. The robot continue to move toward the wall. I looked at the graph of (rqt_graph) und i found that mbv doesnt subscribe to my topic /scan but the old move_base does. I am really confused!!! Should mfb subscribe to my /scan topic (for my controller) ?

my launch file looks like this: launch_file

mbf mbf_node_info old_move_base

corot commented 5 years ago

Hi @Salem-Guezguez, and sorry for the late response; So MBF will listen to whatever sensor is configured in the costmap parameters, for example here is the configured laser for turtlebot. Could be that you are not loading the costmap_common_params.yaml file in your launcher? Please post here the result of:

rosparam get /move_base_flex

Salem-Guezguez commented 5 years ago

Thanks It s work :)) I have wrong configured my observation_sources.

corot commented 5 years ago

Then everybody happy! :ok_man: