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skasperski / navigation_2d

ROS nodes to navigate a mobile robot in a planar environment
GNU General Public License v3.0
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No map generated using turtlebot3 #43

Closed andreastenco closed 6 years ago

andreastenco commented 6 years ago

Hi! I'm trying to use the nav2d package for Turtlebot3's simulation using Gazebo instead of Stage. The problem is that when i launch the simulation(with third tutorial's routine), no map is generated and because of that, the exploration and mapping(of course) don't work. I've tried to control topics and as one can guess, no messages are published on /map topic. The fact is that i haven't touched anything, except adding Turtlebot3 model and Gazebo to launch file and remapped the laserscan topics. Checking rqt_graph showed the absence of /Operator/desired, /Operator/route and /Navigator/plan topics, so i think i'm missing some remapping. Is that the case? Could i have any help to understand what i'm missing? `

` This is my launch file. rviz_screenshot_2018_04_10-12_15_00 And this is a screenshot of RViz. Thanks for any help!!

skasperski commented 6 years ago

I suggest to follow the flow of the data through the whole system.

Also check rqt_console if there are any warnings or errors.

andreastenco commented 6 years ago

The scans are published and trasformations are avaibles. Checking rqt_console gives warnings, it says "Failed to compute odometry pose, skipping scan ("base_laser_link" passed to lookupTransform argument source_frame does not exist. )"

andreastenco commented 6 years ago

After i've answered you, i've googled the warning and i've found the solution in another issue you answered time ago( https://answers.ros.org/question/219046/nav2d-navigator-failing-to-create-path/ ). I've modified the laser_frame parameter and everything works well; i'm new and i didn't know how useful rqt_console is. Thank you for your answer and patience.