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reiniscimurs / DRL-robot-navigation

Deep Reinforcement Learning for mobile robot navigation in ROS Gazebo simulator. Using Twin Delayed Deep Deterministic Policy Gradient (TD3) neural network, a robot learns to navigate to a random goal point in a simulated environment while avoiding obstacles.
MIT License
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Problem with rviz #53

Closed 525753936 closed 8 months ago

525753936 commented 1 year ago

Hi, thanks for sharing your amazing work! I got a problem when I am trying to replace the robot with my own robot model, it seems that my tf coordinates had some problems. Here you can see the tf_graph and the rviz errors. Could you give me some suggestions to enlighten me to address these problems, since I am new to Ros? tf_graph 2023-04-09 12-31-56 的屏幕截图

525753936 commented 1 year ago

My Ros Verision is melodic18.04，and I can run your melodic version pioneer3dx robot in both rviz and gazebo.

reiniscimurs commented 1 year ago

Hi,

Please post the rqt tf tree to see if all the links are connected properly

525753936 commented 1 year ago

Hi, here is my tf_tree shown. frames

525753936 commented 1 year ago

hi I change my code and robot model to the ROS-Noetic version, and i check my tf tree carefully, and it looks like running well. but just a few seconds after launch the environment, the program stuck there. And the robot stopped moving ,i checked the tf tree again, that i found the /odom was vanished, could you gave me some suggestions ?

frames 2023-04-10 21-00-57 的屏幕截图 2023-04-10 20-58-28 的屏幕截图 111

reiniscimurs commented 1 year ago

For the first issue in melodic, you can see that you have 2 unconnected trees. It should be a single tree in order to calculate their transforms. You would either specify the transforms yourself or see if there are any issues with passing on 'namespace' values in your robot description.

In the second instance, it seems you are right that you are not getting any odom data. At least that is why the program crashes. Here you might want to look at the rqt graph to see if the nodes are published correctly and under the names you expect.