How to connect the transform between /robot_base and /map ?

classic Classic list List threaded Threaded
3 messages Options
Reply | Threaded
Open this post in threaded view
|

How to connect the transform between /robot_base and /map ?

刘明
Hi everyone,

When I want to run the move_base as the action server for the test code in:
http://www.ros.org/wiki/navigation/Tutorials/SendingSimpleGoals

The launch file of the move_base is:
<launch>
   
        <param name="global_costmap/robot_base_frame" value="/robot_base"/>
        <param name="global_costmap/global_fram" value="/world"/>
    <node name="move_base" pkg="move_base" type="move_base" respawn="true">
    </node>

</launch>

It keeps popping up the message in rxconsole:

Node: /move_base
Time: 1273663641.651775000
Severity: Warn
Location: /home/ming/ros/stacks/navigation/costmap_2d/src/costmap_2d_ros.cpp:Costmap2DROS::Costmap2DROS:86
Published Topics: /rosout, /cmd_vel, /move_base/current_goal, /move_base/goal

Waiting on transform from /robot_base to /map to become available before running costmap, tf error: Frame id /map does not exist!

Which package defines /map should be the global_frame?
Does anybody have a clue how to fix the problem?

Thanks very much!

Best regards,
Ming

--
___________________________________
Ming Liu
Autonomous Systems Laboratory
ETH Zurich, CLA E 17.2
Tannenstrasse 3
8092, Zurich, Switzerland
Phone: +41 44 632 92 96
Mobile: +41 76 729 50 85
Fax:   +41 44 632 11 81
[hidden email]
[hidden email]
___________________________________

_______________________________________________
ros-users mailing list
[hidden email]
https://code.ros.org/mailman/listinfo/ros-users
Reply | Threaded
Open this post in threaded view
|

Re: How to connect the transform between /robot_base and /map ?

Enea Scioni
Hi!
If you using a Navigation stack, you should use an localization node, as "fake_localization", very useful in simulation, or "amcl" node, or others.
If I don't make a mistake, usually these nodes publish the /map frame. I suggest also to be careful with the frame's name; sometimes I was stuck with this!

Just for a test, you could think to use a static transform publisher
http://www.ros.org/wiki/tf#static_transform_publisher
to transform from /map frame (fixed frame respect the map) and your reference frame (sometimes people use /odom frame's name..)

I hope to suggest something useful!

Enea Scioni
Reply | Threaded
Open this post in threaded view
|

Re: How to connect the transform between /robot_base and /map ?

Eitan Marder-Eppstein
Ming,

If you're trying to set the global frame of the costmap to "world" instead of "map" in the launch file you posted, you have a spelling mistake that will keep this from happening. Specifically, "global_costmap/global_fram" should be "global_costmap/global_frame" for things to work. Also, if you're trying to build up your own launch files for a robot, you'll want to check out the following tutorial:  http://www.ros.org/wiki/navigation/Tutorials/RobotSetup. If you're just trying to run navigation in stage, you might want to take a look at the move_base_stage package to see some example configurations.

Hope this helps,

Eitan


On Wed, May 12, 2010 at 6:27 AM, Enea Scioni <[hidden email]> wrote:

Hi!
If you using a Navigation stack, you should use an localization node, as
"fake_localization", very useful in simulation, or "amcl" node, or others.
If I don't make a mistake, usually these nodes publish the /map frame. I
suggest also to be careful with the frame's name; sometimes I was stuck with
this!

Just for a test, you could think to use a static transform publisher
http://www.ros.org/wiki/tf#static_transform_publisher
to transform from /map frame (fixed frame respect the map) and your
reference frame (sometimes people use /odom frame's name..)

I hope to suggest something useful!

Enea Scioni
--
View this message in context: http://ros-users.122217.n3.nabble.com/How-to-connect-the-transform-between-robot-base-and-map-tp812275p812477.html
Sent from the ROS-Users mailing list archive at Nabble.com.

------------------------------------------------------------------------------

_______________________________________________
ros-users mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/ros-users
_______________________________________________
ros-users mailing list
[hidden email]
https://code.ros.org/mailman/listinfo/ros-users


_______________________________________________
ros-users mailing list
[hidden email]
https://code.ros.org/mailman/listinfo/ros-users