CIR-KIT/fifth_robot_pkg

navigation on Gazebo のメモ

Closed this issue · 2 comments

yasu80 commented

修復中です

[ WARN] [1507811932.481670239, 58.189000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.2020 seconds

test.launch*
yasu17@mobile:~/workspace/robots/fifth_robot_pkg/src/fifth_robot_description/launch$ roslaunch gazebo_nav.launch
... logging to /home/yasu17/.ros/log/218f2844-af4a-11e7-ace1-3cf862f7b070/roslaunch-yasu17-Inspiron-7460-13785.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

WARN: unrecognized 'remap' tag in tag
started roslaunch server http://yasu17-Inspiron-7460:33782/

SUMMARY

PARAMETERS

  • /amcl/gui_publish_rate: 10.0
  • /amcl/kld_err: 0.05
  • /amcl/kld_z: 0.99
  • /amcl/laser_lambda_short: 0.1
  • /amcl/laser_likelihood_max_dist: 2.0
  • /amcl/laser_max_beams: 30
  • /amcl/laser_model_type: likelihood_field
  • /amcl/laser_sigma_hit: 0.2
  • /amcl/laser_z_hit: 0.5
  • /amcl/laser_z_max: 0.05
  • /amcl/laser_z_rand: 0.5
  • /amcl/laser_z_short: 0.05
  • /amcl/max_particles: 5000
  • /amcl/min_particles: 500
  • /amcl/odom_alpha1: 0.02
  • /amcl/odom_alpha2: 0.02
  • /amcl/odom_alpha3: 0.02
  • /amcl/odom_alpha4: 0.02
  • /amcl/odom_alpha5: 0.1
  • /amcl/odom_frame_id: odom
  • /amcl/odom_model_type: diff-corrected
  • /amcl/recovery_alpha_fast: 0.0
  • /amcl/recovery_alpha_slow: 0.0
  • /amcl/resample_interval: 1
  • /amcl/transform_tolerance: 0.1
  • /amcl/update_min_a: 0.5
  • /amcl/update_min_d: 0.2
  • /move_base/TrajectoryPlannerROS/acc_lim_th: 3.2
  • /move_base/TrajectoryPlannerROS/acc_lim_x: 2.5
  • /move_base/TrajectoryPlannerROS/acc_lim_y: 2.5
  • /move_base/TrajectoryPlannerROS/holonomic_robot: True
  • /move_base/TrajectoryPlannerROS/max_rotational_vel: 1.0
  • /move_base/TrajectoryPlannerROS/max_vel_x: 0.45
  • /move_base/TrajectoryPlannerROS/min_in_place_rotational_vel: 0.4
  • /move_base/TrajectoryPlannerROS/min_vel_x: 0.2
  • /move_base/global_costmap/footprint: [[0.25, 0.2], [-0...
  • /move_base/global_costmap/global_frame: /map
  • /move_base/global_costmap/inflation_radius: 0.55
  • /move_base/global_costmap/laser_scan_sensor/clearing: True
  • /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan
  • /move_base/global_costmap/laser_scan_sensor/marking: True
  • /move_base/global_costmap/laser_scan_sensor/sensor_frame: base_laser
  • /move_base/global_costmap/laser_scan_sensor/topic: most_intense
  • /move_base/global_costmap/max_obstacle_height: 0.6
  • /move_base/global_costmap/observation_sources: laser_scan_sensor
  • /move_base/global_costmap/obstacle_range: 1.5
  • /move_base/global_costmap/publish_voxel_map: False
  • /move_base/global_costmap/raytrace_range: 2.0
  • /move_base/global_costmap/rigin_z: 0.0
  • /move_base/global_costmap/robot_base_frame: base_link
  • /move_base/global_costmap/static_map: True
  • /move_base/global_costmap/update_frequency: 5.0
  • /move_base/global_costmap/z_resolution: 0.2
  • /move_base/global_costmap/z_voxels: 2
  • /move_base/local_costmap/footprint: [[0.25, 0.2], [-0...
  • /move_base/local_costmap/global_frame: odom
  • /move_base/local_costmap/height: 6.0
  • /move_base/local_costmap/inflation_radius: 0.55
  • /move_base/local_costmap/laser_scan_sensor/clearing: True
  • /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan
  • /move_base/local_costmap/laser_scan_sensor/marking: True
  • /move_base/local_costmap/laser_scan_sensor/sensor_frame: base_laser
  • /move_base/local_costmap/laser_scan_sensor/topic: most_intense
  • /move_base/local_costmap/max_obstacle_height: 0.6
  • /move_base/local_costmap/observation_sources: laser_scan_sensor
  • /move_base/local_costmap/obstacle_range: 1.5
  • /move_base/local_costmap/publish_frequency: 2.0
  • /move_base/local_costmap/publish_voxel_map: False
  • /move_base/local_costmap/raytrace_range: 2.0
  • /move_base/local_costmap/resolution: 0.05
  • /move_base/local_costmap/rigin_z: 0.0
  • /move_base/local_costmap/robot_base_frame: base_link
  • /move_base/local_costmap/rolling_window: True
  • /move_base/local_costmap/static_map: False
  • /move_base/local_costmap/update_frequency: 5.0
  • /move_base/local_costmap/width: 6.0
  • /move_base/local_costmap/z_resolution: 0.2
  • /move_base/local_costmap/z_voxels: 2
  • /rosdistro: kinetic
  • /rosversion: 1.12.7

NODES
/
amcl (amcl/amcl)
map_server (map_server/map_server)
move_base (move_base/move_base)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[map_server-1]: started with pid [13805]
process[amcl-2]: started with pid [13806]
process[move_base-3]: started with pid [13813]
[ INFO] [1507811890.442019910, 25.291000000]: Requesting the map...
[ WARN] [1507811890.474965889, 25.305000000]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 25.305 timeout was 0.1.
[ INFO] [1507811890.511239308, 25.325000000]: Received a 4000 X 4000 map @ 0.050 m/pix

[ INFO] [1507811890.977573457, 25.659000000]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1507811891.464961105, 25.979000000]: Done initializing likelihood field model.
[ INFO] [1507811891.742321195, 26.167000000]: Loading from pre-hydro parameter style
[ INFO] [1507811891.797421945, 26.204000000]: Using plugin "static_layer"
[ INFO] [1507811891.850723486, 26.249000000]: Requesting the map...
[ INFO] [1507811892.005417216, 26.364000000]: Resizing costmap to 4000 X 4000 at 0.050000 m/pix
[ INFO] [1507811892.136439833, 26.462000000]: Received a 4000 X 4000 map at 0.050000 m/pix
[ INFO] [1507811892.148371313, 26.468000000]: Using plugin "obstacle_layer"
[ INFO] [1507811892.158449241, 26.471000000]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1507811892.228623997, 26.516000000]: Using plugin "inflation_layer"
[ INFO] [1507811892.503702059, 26.696000000]: Loading from pre-hydro parameter style
[ INFO] [1507811892.541943236, 26.722000000]: Using plugin "obstacle_layer"
[ INFO] [1507811892.602998186, 26.769000000]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1507811892.648471033, 26.799000000]: Using plugin "inflation_layer"
[ INFO] [1507811892.807888663, 26.906000000]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1507811892.832482993, 26.919000000]: Sim period is set to 0.05
[ WARN] [1507811892.839844167, 26.925000000]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
[ INFO] [1507811893.103406373, 27.086000000]: Recovery behavior will clear layer obstacles
[ INFO] [1507811893.269250476, 27.199000000]: Recovery behavior will clear layer obstacles
[ WARN] [1507811907.388641322, 37.993000000]: Ignoring initial pose in frame "base_link"; initial poses must be in the global frame, "map"
[ INFO] [1507811926.539005790, 53.432000000]: Setting pose (53.432000): 6.703 -3.073 2.249
[ WARN] [1507811932.481670239, 58.189000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.2020 seconds
[ INFO] [1507811944.859387971, 67.932000000]: Setting pose (67.932000): 2.564 0.831 2.422
[ INFO] [1507811949.095262497, 71.150000000]: Setting pose (71.150000): 1.059 -0.976 2.573
[ INFO] [1507811955.434717065, 76.030000000]: Setting pose (76.030000): 2.540 -0.865 2.502

yasu17@mobile:~$ rostopic list
/amcl/parameter_descriptions
/amcl/parameter_updates
/amcl_pose
/clicked_point
/clock
/cmd_vel
/fifth_robot/diff_drive_controller/cmd_vel
/fifth_robot/diff_drive_controller/odom
/fifth_robot/joint_states
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/initialpose
/map
/map_metadata
/map_updates
/most_intense
/move_base/NavfnROS/plan
/move_base/TrajectoryPlannerROS/cost_cloud
/move_base/TrajectoryPlannerROS/global_plan
/move_base/TrajectoryPlannerROS/local_plan
/move_base/TrajectoryPlannerROS/parameter_descriptions
/move_base/TrajectoryPlannerROS/parameter_updates
/move_base/cancel
/move_base/current_goal
/move_base/feedback
/move_base/global_costmap/costmap
/move_base/global_costmap/costmap_updates
/move_base/global_costmap/footprint
/move_base/global_costmap/inflation_layer/parameter_descriptions
/move_base/global_costmap/inflation_layer/parameter_updates
/move_base/global_costmap/obstacle_layer/parameter_descriptions
/move_base/global_costmap/obstacle_layer/parameter_updates
/move_base/global_costmap/parameter_descriptions
/move_base/global_costmap/parameter_updates
/move_base/global_costmap/static_layer/parameter_descriptions
/move_base/global_costmap/static_layer/parameter_updates
/move_base/goal
/move_base/local_costmap/costmap
/move_base/local_costmap/costmap_updates
/move_base/local_costmap/footprint
/move_base/local_costmap/inflation_layer/parameter_descriptions
/move_base/local_costmap/inflation_layer/parameter_updates
/move_base/local_costmap/obstacle_layer/parameter_descriptions
/move_base/local_costmap/obstacle_layer/parameter_updates
/move_base/local_costmap/parameter_descriptions
/move_base/local_costmap/parameter_updates
/move_base/parameter_descriptions
/move_base/parameter_updates
/move_base/result
/move_base/status
/move_base_simple/goal
/odom
/particlecloud
/rosout
/rosout_agg
/scan
/tf
/tf_static

cmd_vel をリマップしないと動かないよ

yasu80 commented

あと, amcl_diffのスキャントピックを直書きでscanに書き換えている

もっというとmapを固定する必要がある

yasu80 commented

3ccac36 で修正