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How to launch rrt_exploration package for MiR using simple.launch

See original GitHub issue

Hello 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:closed
  • Created 5 years ago
  • Comments:8 (4 by maintainers)

github_iconTop GitHub Comments

2reactions
hasauinocommented, Dec 16, 2018

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

0reactions
chblocacommented, Dec 16, 2018

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.

<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="2.0"/> <!-- 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="-5.0"/>
    <param name="ymin" value="-5.0"/>
    <param name="xmax" value="5.0"/>
    <param name="ymax" value="5.0"/>

    <!-- Processing parameters (resolution of the map)  -->
    <param name="delta" value="0.1"/>

    <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>

  <arg name="namespace" value=""/>
  <node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
    <param name="footprint_padding" value="0.01" />
    <param name="controller_frequency" value="5.0" />
    <param name="controller_patience" value="3.0" />
    <param name="oscillation_timeout" value="30.0" />
    <param name="oscillation_distance" value="0.5" />
    <param name="planner_patience" value="1" />
    <param name="controller_patience" value="1" /> 
    <remap from="cmd_vel" to="mobile_base/commands/velocity"/>
    <param name="recovery_behavior_enabled" value="false" />
    <rosparam file="$(find rrt_exploration_tutorials)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find rrt_exploration_tutorials)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find rrt_exploration_tutorials)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find rrt_exploration_tutorials)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find rrt_exploration_tutorials)/param/base_local_planner_params.yaml" command="load" />  
    <param name="global_costmap/global_frame" value="$(arg namespace)/map"/>
    <param name="global_costmap/robot_base_frame" value="$(arg namespace)/base_link"/>
    <param name="global_costmap/laser_scan_sensor/sensor_frame" value="/$(arg namespace)/base_laser_link"/>
    <param name="global_costmap/laser_scan_sensor/topic" value="/$(arg namespace)/$(arg scan_topic)"/>    
    <param name="local_costmap/global_frame" value="$(arg namespace)/odom"/>
    <param name="local_costmap/robot_base_frame" value="$(arg namespace)/base_link"/>
    <param name="local_costmap/laser_scan_sensor/sensor_frame" value="$(arg namespace)/front_laser_link"/>
    <param name="local_costmap/laser_scan_sensor/topic" value="/$(arg namespace)/$(arg scan_topic)"/>
    <param name="local_costmap/obstacle_layer/laser_scan_sensor/topic" value="/$(arg namespace)/$(arg scan_topic)"/>
  </node>

  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rrt_exploration_tutorials)/launch/includes/rviz_config/simple.rviz">
  </node>

</launch>

Thank you very much Hasauino for your support.

Read more comments on GitHub >

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