Running on Noetic

[ElClopitan]

I got it working on noetic but when I run roslaunch full_coverage_path_planner test_full_coverage_path_planner.launch I get the following error from dynamic reconfigure and while the robot moves on the path, the transform from the robot to the map seems to be missing. Is this just an issue of publishing a transform myself and if so where can I get the transform info?

[amyjohansson1994]

@ElClopitan I had similar issue, and found the solution at magazino/move_base_flex#224

[ElClopitan]

@amyjohansson1994 I followed your advice and replaced move_base_legacy_relay.py with the one from noetic-devel branch and did the other fix on there so it runs again. The original issue remains and I think I have narrowed it down to mobile_robot_simulator publishing the robot's base_link to be at (0,0) on the map which is not correct. Manually publishing a tf messes up the path so is there another way I can fix this? Thank you!

[Timple]

So mobile_robot_simulator is broken on Noetic?

[ElClopitan]

It seems to be running fine, just that it places the robot at (0,0) on the map. If that counts as broken then yeah, it's broken. Hopefully there is a fix. It may just be that there is no source for localization on this map.

[ElClopitan]

Even if I give it a correct initial position, the path does not move with it so it seems to start at the point closest to the new position.

[ElClopitan]

Looking at a kinetic version of the code that works, I think it is safe to say that mobile robot simulator is the issue. I'll close this for now but if someone has any potential solutions I would be grateful.

[Timple]

Feel free to open an issue on robot_mobile_simulator for this :)