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nickcharron / waypoint_nav

This package performs outdoor GPS waypoint navigation using move_base, robot_localization, gmapping and others. It can navigate while building a map, avoiding obstacles, and can navigate continuously between each goal.
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Cannot Move the Robot in Simulation #10

Closed boschpradhanshrijal closed 5 years ago

boschpradhanshrijal commented 5 years ago

I am trying to use the waypoint_nav package on Kinetic.

I have successfully got it running with a forked package from: https://github.com/jeffreylutz/waypoint_nav/

The simulation is now working however it shows the Warning: [ WARN] [1557732150.448413800, 3770.410000000]: Transform from base_link to map was unavailable for the time requested. Using latest instead.

Further, I can use the Joystick to assign goals but cannot move the robot. Hence, I am always left with one single goal to move around with.

Are these issues related? I want to be able to move the robot around.

roboticlemon commented 5 years ago

Having the same issue did you find any resolutions to it? It's even publishing to /joy_teleop/cmd_vel correctly

boschpradhanshrijal commented 5 years ago

I am using only the outdoor_waypoint_nav packet and the rest of the dependant husky package from source. That seems to have done the trick.

The robot moves again but I am still to integrate the functionalities of point following. You can maybe try to write your own simple node for this purpose.

I have tracked down the problem in the original package to the spawn_husky.launch but have not had the time to look further into it.

Hope this helps you

roboticlemon commented 5 years ago

I figured out where the problem is coming from. There is some sort of issue with the inbuilt husky_description which is found in this folder. When you source the devel, the husky description the routes to this description xacro which appears to be bugged somehow. I haven't quite figured out what's wrong with it yet but hopefully soon. In any case you can move the robot by commenting out the husky_gazebo_description loading part and instead relying on the globally install ros package by exporting the var like so:

export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro

I'll publish the working fork soon!

boschpradhanshrijal commented 5 years ago

Have a look at this file as well.

In the operating husky_description packet these files were one.

Please also have a look at the gazebo_ros_control plugin in this file. Maybe it would be helpful.

Looking forward to see a working fork.

saeedarabi92 commented 5 years ago

I am facing the same issue. I cannot move the husky in gazebo. In the gazebo, axis 0 and 1 on my joystick does not work while other bottoms work. Looking forward to see a working fork @nickcharron.

ghorowit commented 4 years ago

Hi,

Anyone know what the solution to this was? Do you know if any fork has it working?