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utexas-bwi / segbot_simulator

Gazebo simulation for the BWI Project segbot
http://wiki.ros.org/segbot_simulator
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need help using the navigation stack in gazebo. #5

Closed dikke closed 11 years ago

dikke commented 11 years ago

Hello

I am using your segbot_simulator. It's great. However, when I was trying to sending a action goal to "move_base/goal" by targeting the "base_footprint" frame , It seems like the robot is just rotating stationary around.

First I: 

     roslaunch segbot_gazebo simulated_bwi_segbot.launch

This also the starts the "launch_localization", "use_fake_localization", and "launch_gmapping". Then I 

        roslaunch segbot_navigation move_base.launch

and I also send a goal to the move_base/goal to move it to location x=2, y=2.

here is what I receive:

[ INFO] [1371161385.412579989, 40.862000000]: Sim period is set to 0.20 [ WARN] [1371161385.423425266, 40.870000000]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution. [ WARN] [1371161605.858571089, 223.491000000]: Clearing costmap to unstuck robot. [ WARN] [1371161606.195687558, 223.690000000]: Rotate recovery behavior started. [ WARN] [1371161610.244063071, 225.881000000]: Map update loop missed its desired rate of 3.0000Hz... the loop actually took 0.3810 seconds [ WARN] [1371161628.887434297, 235.990000000]: Clearing costmap to unstuck robot. [ WARN] [1371161629.207458710, 236.190000000]: Rotate recovery behavior started. [ERROR] [1371161654.585096560, 248.390000000]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors

Do you have any ideas?

Note: I am running this in groovy, and I am also using the "bwi_test_world" provided.

thank you

piyushk commented 11 years ago

You are dealing with highly experimental code from our side. For this reason, I've left the code mostly undocumented as changes will be made disregarding external usage (i.e. this code is in beta). I would highly recommend using more stable platforms in simulation such as the PR2 right now.

What time frame are you looking at? The code will be ready and released by the end of summer. Can you wait till then? As of right now, we don't have the resources to support external developers on the segbot_simulator stack...

dikke commented 11 years ago

Thank you for your reply. I am actually looking to use the navigation stack (move base node) to move the segbot to a specific point in gazebo. However, I don't know which the correct procedure for opening up your launch files as there are many of them: amcl.launch, eban_nav.launch, gmapping.launch, move_base.launch, move_base_eband.launch.

So I am looking for a guidance in using them. Thank you

piyushk commented 11 years ago

@dikke For the time being, I am using move_base_eband.launch.

Just to clarify, I probably won't have time to reply to these and similar queries until version 0.1.0 of the stack has been released (ETA: August 2013). We'll probably be directly releasing into Hydro.