How to launch rrt_exploration package for MiR using simple.launch
See original GitHub issueHello Hasauino. I am trying to test your package in an industrial mobile robot as part of my thesis. Here, this device launches the navigation stack automatically so the case is slightly different. I managed to run gmapping and it does without problems. So, at this point as everything is set up properly I am trying to launch your package.
I saw that you made the proper modifications for a unique robot so I don’t need to make any modifications and mappings of the topics related with robot_1.
So what I’ve tried so far the following procedure:
From the mir_robot which provides IP bridging, remapping and removing of topics,… stuff that makes possible a good connection between my computer and the robot.
roslaunch mir_driver mir.launch disable_map:=true
Now I roslaunch this launcher I have created to execute gmapping, rviz and setting use_sim_time = false:
<launch>
<param name="use_sim_time" value="false" />
<arg name="scan_topic" default="/f_scan" />
<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<param name="odom_frame" value="odom"/>
<param name="base_frame" value="base_link"/>
<param name="map_frame" value="map"/>
<!-- Process 1 out of every this many scans (set it to a higher number to skip more scans) -->
<param name="throttle_scans" value="1"/>
<param name="map_update_interval" value="5.0"/> <!-- default: 5.0 -->
<!-- The maximum usable range of the laser. A beam is cropped to this value. -->
<param name="maxUrange" value="5.0"/>
<!-- The maximum range of the sensor. If regions with no obstacles within the range of the sensor should appear as free space in the map, set maxUrange < maximum range of the real sensor <= maxRange -->
<param name="maxRange" value="10.0"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="minimumScore" value="0.0"/>
<!-- Number of beams to skip in each scan. -->
<param name="lskip" value="0"/>
<param name="srr" value="0.01"/>
<param name="srt" value="0.02"/>
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<!-- Process a scan each time the robot translates this far -->
<param name="linearUpdate" value="0.1"/>
<!-- Process a scan each time the robot rotates this far -->
<param name="angularUpdate" value="0.05"/>
<param name="temporalUpdate" value="0.1"/>
<param name="resampleThreshold" value="0.5"/>
<!-- Number of particles in the filter. default 30 -->
<param name="particles" value="10"/>
<!-- Initial map size -->
<param name="xmin" value="-10.0"/>
<param name="ymin" value="-10.0"/>
<param name="xmax" value="10.0"/>
<param name="ymax" value="10.0"/>
<!-- Processing parameters (resolution of the map) -->
<param name="delta" value="0.02"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.01"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<remap from="scan" to="$(arg scan_topic)"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" />
</launch>
And finally the last thing I do is:
roslaunch rrt_exploration simple.launch
The problem comes when I try to publish the points in RViz, there won’t appear any of them RViz so they won’t be published and your algorithm won’t run. What am I doing wrong?
Issue Analytics
- State:
- Created 5 years ago
- Comments:8 (4 by maintainers)
Top GitHub Comments
Ok great! 👍 glad it finally worked. I will close this issue now. thanks for providing this launch file, I think it might be helpful for others running through the same problem
Ok, problem solved. The problems were that I didn’t include the move_base node in the launcher and that the resolution of the gmapping was too high (delta parameter) so it had a tremendous impact laptop which caused lags and TF OLD DATA. Adjusting some parameters I got this launcher which works perfectly.
Thank you very much Hasauino for your support.