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victorkhoo / NewP3AT

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Troubleshoot with local navigation #1

Open victorkhoo opened 8 years ago

victorkhoo commented 8 years ago

@danimtb Thank for your help. Finally i managed to get this repo uploaded. I still having the same issue with my local navigation. let me go through what i have modify from your repo.

  1. After forking from ur repo and catkin_make, following error shown.

In file included from /home/victor/draft_ws/src/pioneer3at_ETSIDI/freenect_stack/freenect_camera/include/freenect_camera/freenect_driver.hpp:5:0, from /home/victor/draft_ws/src/pioneer3at_ETSIDI/freenect_stack/freenect_camera/src/nodelets/driver.h:54, from /home/victor/draft_ws/src/pioneer3at_ETSIDI/freenect_stack/freenect_camera/src/nodelets/driver.cpp:39: /home/victor/draft_ws/src/pioneer3at_ETSIDI/freenect_stack/freenect_camera/include/freenect_camera/freenect_device.hpp:11:50: fatal error: libfreenect/libfreenect_registration.h: No such file or directory compilation terminated.

  1. So i delete the freenect package from your original repo and catkin_make was success. even though freenect package was deleted. i still able to see depth image from rviz. I also removed some lines in the following files.

2.1 local_costmap_params.yaml Removed :
- {name: obstacle_layer_laser, type: "costmap_2d::VoxelLayer"} obstacle_layer_laser: observation_sources: sick_lms1xx sick_lms1xx: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true, obstacle_range: 10.0, raytrace_range: 12.0, inf_is_valid: true}

2.2 global_costmap_params.yaml Removed : - {name: obstacle_layer_laser, type: "costmap_2d::VoxelLayer"} obstacle_layer_laser: observation_sources: sick_lms1xx sick_lms1xx: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true, obstacle_range: 5.0, raytrace_range: 10.5, inf_is_valid: true}

2.3 pioneer3at-rosaria.launch Removed : <include file="$(find pioneer_utils)/sensors/LMS1xx.launch"/> <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="-0.2 0 0.390 3.141592 0 0 base_link laser 1" />

  1. Lastly run the following in terminal,

roscore

roslaunch pioneer_utils pioneer3at-rosaria.launch

roslaunch pioneer_utils local_navigation_p3at.launch

victorkhoo commented 8 years ago

Here is my result from pioneer3at-rosaria.launch

SUMMARY

PARAMETERS

NODES /camera/ camera_nodelet_manager (nodelet/nodelet) debayer (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_rectify_depth (nodelet/nodelet) disparity_depth (nodelet/nodelet) disparity_registered_hw (nodelet/nodelet) disparity_registered_sw (nodelet/nodelet) driver (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) rectify_color (nodelet/nodelet) rectify_ir (nodelet/nodelet) rectify_mono (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) / base_to_camera_broadcaster (tf/static_transform_publisher) base_to_laser_broadcaster (tf/static_transform_publisher) camera_base_link (tf/static_transform_publisher) camera_base_link1 (tf/static_transform_publisher) camera_base_link2 (tf/static_transform_publisher) camera_base_link3 (tf/static_transform_publisher) depthimage_to_laserscan (depthimage_to_laserscan/depthimage_to_laserscan) depthimage_to_laserscan_low (depthimage_to_laserscan/depthimage_to_laserscan) lms1xx (lms1xx/LMS1xx_node) publisher (p2os_urdf/p2os_publisher_3at) robot_state_publisher (robot_state_publisher/state_publisher) rosaria (rosaria/RosAria)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[robot_state_publisher-1]: started with pid [15788] process[publisher-2]: started with pid [15808] process[lms1xx-3]: started with pid [15820] [ INFO] [1453704986.250719347]: Connecting to laser at : 10.42.1.197 process[camera/camera_nodelet_manager-4]: started with pid [15835] [ INFO] [1453704986.355902306]: Initializing nodelet with 4 worker threads. process[camera/driver-5]: started with pid [15856] process[camera/debayer-6]: started with pid [15873] process[camera/rectify_mono-7]: started with pid [15889] process[camera/rectify_color-8]: started with pid [15911] process[camera/rectify_ir-9]: started with pid [15940] [ INFO] [1453704986.701327681]: Number devices connected: 1 [ INFO] [1453704986.701425171]: 1. device on bus 000:00 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00364A05660053A' [ INFO] [1453704986.702070784]: Searching for device with index = 1 process[camera/depth_rectify_depth-10]: started with pid [15972] process[camera/depth_metric_rect-11]: started with pid [15989] process[camera/depth_metric-12]: started with pid [16062] process[camera/depth_points-13]: started with pid [16100] [ INFO] [1453704986.993133583]: Starting a 3s RGB and Depth stream flush.

process[camera/register_depth_rgb-14]: started with pid [16151] process[camera/points_xyzrgb_sw_registered-15]: started with pid [16184] process[camera/depth_registered_rectify_depth-16]: started with pid [16207] process[camera/points_xyzrgb_hw_registered-17]: started with pid [16251] process[camera/disparity_depth-18]: started with pid [16268] [ WARN] [1453704987.363162817]: Could not find any compatible depth output mode for 1. Falling back to default depth output mode 1. [ INFO] [1453704987.370229190]: rgb_frame_id = '/camera_rgb_optical_frame' [ INFO] [1453704987.370279887]: depth_frame_id = '/camera_depth_optical_frame' [ WARN] [1453704987.383343394]: Camera calibration file /home/victor/.ros/camera_info/rgb_A00364A05660053A.yaml not found. [ WARN] [1453704987.383441577]: Using default parameters for RGB camera calibration. [ WARN] [1453704987.383477964]: Camera calibration file /home/victor/.ros/camera_info/depth_A00364A05660053A.yaml not found. [ WARN] [1453704987.383502492]: Using default parameters for IR camera calibration. process[camera/disparity_registered_sw-19]: started with pid [16345] process[camera/disparity_registered_hw-20]: started with pid [16389] process[camera_base_link-21]: started with pid [16436] process[camera_base_link1-22]: started with pid [16485] process[camera_base_link2-23]: started with pid [16520] process[camera_base_link3-24]: started with pid [16577] process[depthimage_to_laserscan_low-25]: started with pid [16612] process[depthimage_to_laserscan-26]: started with pid [16680] process[rosaria-27]: started with pid [16723] process[base_to_laser_broadcaster-28]: started with pid [16796] process[base_to_camera_broadcaster-29]: started with pid [16843] [ INFO] [1453704989.994564384]: Stopping device RGB and Depth stream flush.

victorkhoo commented 8 years ago

Here is my result from local_navigation_p3at.launch

[ WARN] [1339006098.075362691]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:

victorkhoo commented 8 years ago

Hi @danimtb, Latest update @26Jan15.

local navigation seem working. The error is eliminated. now this is how it look from my local navigation. But my P3AT is still not moving. although the freenect package is removed from the repo but still able still receive depth image as shown in Rviz.

This is how my local navigation look now. screenshot from 2016-01-26 13 05 32

This is how my pioneer3at-rosaria.launch look like now. screenshot from 2016-01-26 13 06 05

and my TF Tree rosgraph

victorkhoo commented 8 years ago

My guess is that i dont have goal for my robot to move in local nav. So i should edit the nav-waypoints.cpp to give the robot a goal to move to ?