goalへ向けて走りだしてくれない
Closed this issue · 3 comments
こんな感じなのですが表題のとおりです
roslaunch fifth_robot_description test.launch lasor_topic:=/scan
roslaunch fifth_robot_description gazebo_nav.launch
rviz
rviz内で固定フレームを/mapに指定の後, ポーズ推定とゴールを指定.
ポーズ推定はいい具合だが動かない
test.launchはwillow_garageを呼び出す. descriotion/mapにいるマップは最初の部屋の物.
マップが汚い説
マップを綺麗にして実験してみましたが, pathは吐かれているので割といいと思います
リマップしたつもりだったのですが/cmd_velに吐かれていたので動かなかったようです.
linear:
x: 0.436842105263
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.368421052632
linear:
x: 0.436842105263
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.368421052632
yasu17@mobile:~/workspace/robots/fifth_robot_pkg/src/fifth_robot_description/launch$ roslaunch gazebo_nav.launch laser_topic:=/scan
... logging to /home/yasu17/.ros/log/b5bf2c60-b00f-11e7-ad27-3cf862f7b070/roslaunch-yasu17-Inspiron-7460-21664.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.
started roslaunch server http://yasu17-Inspiron-7460:44052/
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 [21686]
process[amcl-2]: started with pid [21687]
process[move_base-3]: started with pid [21694]
[ INFO] [1507896770.512124473, 45.268000000]: Requesting the map...
[ INFO] [1507896770.569957934, 45.304000000]: Received a 4000 X 4000 map @ 0.050 m/pix
[ INFO] [1507896770.968104933, 45.558000000]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1507896771.330201052, 45.808000000]: Done initializing likelihood field model.
[ INFO] [1507896771.555987735, 45.978000000]: Loading from pre-hydro parameter style
[ INFO] [1507896771.602916348, 46.016000000]: Using plugin "static_layer"
[ INFO] [1507896771.663718533, 46.064000000]: Requesting the map...
[ INFO] [1507896771.818011632, 46.175000000]: Resizing costmap to 4000 X 4000 at 0.050000 m/pix
[ INFO] [1507896771.952449840, 46.268000000]: Received a 4000 X 4000 map at 0.050000 m/pix
[ INFO] [1507896771.971758739, 46.277000000]: Using plugin "obstacle_layer"
[ INFO] [1507896771.982287203, 46.285000000]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1507896772.038493922, 46.318000000]: Using plugin "inflation_layer"
[ INFO] [1507896772.305766198, 46.498000000]: Loading from pre-hydro parameter style
[ INFO] [1507896772.356121290, 46.530000000]: Using plugin "obstacle_layer"
[ INFO] [1507896772.426622037, 46.570000000]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1507896772.480443258, 46.605000000]: Using plugin "inflation_layer"
[ INFO] [1507896772.648501608, 46.710000000]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1507896772.662100761, 46.722000000]: Sim period is set to 0.05
[ WARN] [1507896772.668858926, 46.727000000]: 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] [1507896772.937556165, 46.906000000]: Recovery behavior will clear layer obstacles
[ INFO] [1507896773.023622369, 46.956000000]: Recovery behavior will clear layer obstacles
[ INFO] [1507896870.084092229, 111.548000000]: Setting pose (111.548000): -1.100 1.953 0.837
[ WARN] [1507896990.321355521, 189.209000000]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0530 seconds
[ WARN] [1507897012.468001750, 201.158000000]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0520 seconds
[ WARN] [1507897013.890579263, 201.911000000]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0520 seconds
[ WARN] [1507897015.655189063, 203.107000000]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0510 seconds
[ WARN] [1507897022.099568098, 207.258000000]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0520 seconds
[ WARN] [1507897066.855342277, 231.759000000]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0520 seconds
[ WARN] [1507897067.831694301, 232.325000000]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0690 seconds
[ WARN] [1507897068.055774036, 232.463000000]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0540 seconds
[ WARN] [1507897095.425717677, 247.210000000]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0540 seconds
[ WARN] [1507897095.495098624, 247.263000000]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0570 seconds
[ WARN] [1507897194.210553318, 301.410000000]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0540 seconds
[ WARN] [1507897194.977128144, 301.863000000]: Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.0570 seconds
/ffifth_robot/diff_drive_contorller/cmd_velが正解です.