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ros-planning / navigation_experimental

Experimental navigation techniques for ROS robots.
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SBPL_Exception on kinetic #37

Closed GITSHOHOKU closed 5 years ago

GITSHOHOKU commented 5 years ago

I start use sbpl on ros-kinetic, I use sudo apt-get install ros-kinetic-sbpl, sbpl-lattice-planner I set it as the base_global_planner in launch file like this: `

<param name="controller_frequency" value="10.0" />
<param name="controller_patience" value="100.0" />
<param name="base_global_planner" value="SBPLLatticePlanner" />
<param name="base_local_planner" value="pose_follower/PoseFollower" />

<rosparam file="$(find sx_robot)/config/sx_params/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find sx_robot)/config/sx_params/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find sx_robot)/config/sx_params/local_costmap_params.yaml" command="load" />
<rosparam file="$(find sx_robot)/config/sx_params/global_costmap_params.yaml" command="load" />
<!--rosparam file="$(find sx_robot)/config/sx_params/base_local_planner_params.yaml" command="load" /-->
<rosparam file="$(find sx_robot)/config/sx_params/pose_follower_params.yaml" command="load" />
<rosparam file="$(find sx_robot)/config/sx_params/sbpl_global_params.yaml" command="load" />

But when I launched it ,I got these error message: [INFO] [1554984329.226987]: simulate startup! [ INFO] [1554984329.564472698]: Using plugin "static_layer" [ INFO] [1554984329.569651035]: Requesting the map... [ INFO] [1554984329.772388905]: Resizing costmap to 600 X 600 at 0.010000 m/pix [ INFO] [1554984329.872164369]: Received a 600 X 600 map at 0.010000 m/pix [ INFO] [1554984329.878223848]: Using plugin "obstacle_layer" [ INFO] [1554984329.880451677]: Subscribed to Topics: realsense_fake_laser [ INFO] [1554984329.903446263]: Using plugin "inflation_layer" [ INFO] [1554984329.952730559]: Name is SBPLLatticePlanner terminate called after throwing an instance of 'SBPL_Exception' what(): ERROR: unable to open [move_base-7] process has died [pid 4208, exit code -6, cmd /opt/ros/kinetic/lib/move_base/move_base __name:=move_base __log:=/home/hkwal/.ros/log/1860a58e-5c52-11e9-a7f8-f8633f5c04b3/move_base-7.log]. log file: /home/hkwal/.ros/log/1860a58e-5c52-11e9-a7f8-f8633f5c04b3/move_base-7*.log ` What did I miss? Thanks a lot!

mintar commented 5 years ago

You forgot to set the parameter primitive_filename.

See here:

https://github.com/ros-planning/navigation_experimental/blob/004b5b6a2adc59c1c1af30d76d0cacfa77aa6aff/sbpl_lattice_planner/launch/move_base/move_base_sbpl.xml#L9

And here:

https://github.com/ros-planning/navigation_experimental/tree/kinetic-devel/sbpl_lattice_planner#parameters

GITSHOHOKU commented 5 years ago

Ok, Thanks,I will try. Thanks a lot !