Hi!
I'm trying to use amcl to localize my robot.
First I run rviz.
Then I published the map using map_server
Finally in a new terminal a run amcl_diff.launch
wilson@Wilson:~$ rosrun rviz rviz
wilson@Wilson:~$ rosrun map_server map_server ctai_2.yaml
wilson@Wilson:~$ roslaunch amcl amcl_diff.launch
Published topics are:
/amcl/parameter_descriptions
/amcl/parameter_updates
/amcl_pose
/clicked_point
/diagnostics
/hokuyo_node/parameter_descriptions
/hokuyo_node/parameter_updates
/initialpose
/map
/map_metadata
/map_updates
/move_base_simple/goal
/particlecloud
/rosout
/rosout_agg
/scan
/slam_cloud
/tf
/tf_static
/trajectory
But amcl node prints out this message continuously:
[ WARN] [1425574394.999492201]: No laser scan received (and thus no pose updates
have been published) for 1425574394.999407 seconds. Verify that data is being published
on the /scan topic.
[ WARN] [1425574394.999585497]: MessageFilter [target=odom ]: Dropped 100.00% of
messages so far. Please turn the [ros.amcl.message_notifier] rosconsole logger to DEBUG
for more information.
And rviz node prints out this:
[ WARN] [1425574334.540441439]: MessageFilter [target=map ]: Dropped 100,00% of
messages so far. Please turn the [ros.rviz.message_notifier] rosconsole logger to
DEBUG for more information.
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amcl warning....No laser scan received
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Can't use 2D Pose Estimate within rviz
Hey guys,
i was trying to follow a turtlebot tutorial on how to navigate the robot within rviz. I can see the map in rviz and i can also send an goal and the robot will move to that goal. But i can't use the 2D Pose Estimate button. The message is correctly published on the "initialpose"-topic and the publisher and subscriber is also set correctly. But nothing happens!
I get the following warning:
Frame ID of "initialpose" (map) is different from the global frame /map
What does this mean? The fixed frame in rviz is set to /map and the frame on which initialpose is working is also set to map...
Any suggestions on my problem? Later i will do this on a real robotino, gut at the moment i have the same problem in the robotino as with the turtlebot in the simulator
Best regards,
Daniel
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AMCL wont search for its position
I've a problem with getting AMCL working.
I used hector_mapping for creating a map. during the hectormapping i recorded the /scan topic in a .bag file.
The main goal is playing the bagfile with the /scan topic and then let ACML locate its position in the created map.
I know i need odometry data but i doenst have that yet. So for now the "odom_frame_id" == base_link. does that suggest there is no movement?
Can someone help me finding the problem? ACML is not finding its position so i dont get a pose.
Capture from rviz, laser data is coming in and map is loaded successfully:
My launchfile is as following:
ros
Also if i turn on pose in rviz i get this image. the pose does'nt update.
it is also broadcasting the tf transformation between the map and the base link, only the tf is not right.
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About turtlebot_2dnav
Hello,
I'm trying to implement the backend for one web application that use the `NAV2DJS` from Robot web tools, I made a launch file in order to have all the nodes required, but it gives me this error:> [ WARN] [1427214700.876816371]:> Waiting on transform from> base_footprint to map to become> available before running costmap, tf> error:
In order to try only this part `turtlebot_2dnav` (having on mind the nodes already used by the webpage), this is the order of launching nodes
$ roscore
$ roslaunch turtlebot_bringup minimal.launch
$ roslaunch openni_camera openni.launch
$ roslaunch control turtlebot_2dnav.launch
Where turtlebot_2dnav.launch file is:
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Move_base configurations and amcl frames problems
Hey, I'm trying to use the Navigation Stack on my robot.
I'm using a laser sanner and wheel odometry. I run my robot and then I start a launch file for move_base.
This is my move_base launch file:
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Ajusting Turtlebot Speed in Autonomous Navigation
Hello!
I'm trying to change the turtlebot linear autonomous navigation speed according to a variable parameter **without changing the route** traced through Rviz, but i'm facing a problem.
For the autonomous navigation i'm using the Amcl App as follow : [here](http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map)
Actually, my turtlebot speed should change when my external parameter changes, but the **Amcl_demo** navigation is publishing in the cmd_vel, and because of that it's not possible to publish the same type 'geometry_msgs::Twist base_cmd' to the teleop node or some other one responsible for the robot velocity. (I'd like to know the right one too)
Is it possible to **change the max speed limit** parameter from **base_local_planner_params.yaml** while my 'listener' is receiving data (in real time)? I'm not sure but I think it'll loads it once before the program starts =(
The amcl needs the velocity info to calculate the robot position in the 2D map, so publishing another speed over the amcl, excluding the fact it won't work, it'll make the robot lost in the map. Is that right?
I was thinking about publishing the robot speed from my **'listener'** to **amcl code**, and this one (after the position calculus and stuff) sending the correct speed to turtlebot.
*How can I do that? Is there another way?*
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move_base obstacle topic missing
Hey, Im trying to run the Navigation stack on my robot (with laser scanner and whel odometry) with ROS Hydro. I already built a map (using gmapping) and the localization with amcl is working as well. Now try to run move base and visualize it in rviz (I use this Tutorial: http://wiki.ros.org/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack).
However, when I type
rostopic list move_base
I am missing the topic
local_costmap/obstacles
and
global_costmap/obstacles
So I cannot visualize any obstacles.
Here is my launch file for move_base:
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robot_localization: yaw and position scaled down
We have a setup on a Kobuki where we use the *robot\_localization* package to fuse sensor data consisting of wheel odometry and landmark recognition, which is complemented by *amcl* to correct the odometry data while no landmarks are visible.
For now, the landmark system is not providing input, but the wheel odometry is fed to an *ekf\_localization\_node* which provides the odom -> base_footprint (analogous to base_link) transform. *amcl* receives the filtered odometry output produced by the *ekf\_localization\_node* and provides the map -> odom transform.
The *ekf\_localization\_node* however seems to "filter" the odometry in a weird way: The x and y position moves in the right direction, but only by half the distance of what it should do, whereas the yaw movement is scaled to maybe a 100th of it's original amount. What I would like to have happen is that the odometry input leads to a somewhat similar output on the */filtered/odometry* topic.
Another issue which might be related is that the output on the */filtered/odometry* topic seems to very slowly drift in both the xy-position as well as the yaw.
### robot_localization launch file ###
[true, true, false,
false, false, true,
false, false, false,
false, false, false,
false, false, false]
[0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.015]
[0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9]
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Is AMCL mandatory for outdoor robots?
Dear all,
I'm new in the ROS world and I have a question that would seem to be stupid for most of you but we all have to start somewhere.
I have trouble to understand the role of AMCL. I believe that AMCL is used by indoor robots to find a localization of the robot on a pre-loaded map (made with laserscan). Am I wrong?
My robot will be used outdoor with GPS, IMU, Wheel odometer and a laser scan. So I don’t need to include AMCL in the move_base node? Could you confirm that I can use the navigation stack without the AMCL node?
All the transformations from odom to map (publish initially by AMCL) will be managed by localization stack (ukf_localization_node or ekf_localization_node). Am I right?
Best regards
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Calculating Odometry Data for the Navigation Stack
Hi Everyone,
I hope someone can help me answer a simple question. My custom robot delivers data. The data are velocity (m / s) and rotation velocity (deg / s or rad / s). I also recieve the distance the robot has traveled (mm). My problem is, I need to publish the odometry-data for the navigation-stack. I followed this tutorial (http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom). The tutorial calls for the vx and vy and vth coordinates. I have the vth coordinates but I need vx and vy and don´t know how to calculate them having only the velocity and the rotation velocity.
Thank you in advance for any advice!
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Problems with Transform-Broadcaster on custom Bot
Hi Everyone,
i hope someone can answer me a question. I have a custom robot and i would like to use the Navigation-Stack of ROS.
i follow this tutorial: (http://wiki.ros.org/navigation)
The Problem is that anything is incorrect on my Transform-Boradcaster. The tf-tree is map-->odom-->base_link-->base_laser.
Here is my Transform-Broadcaster:
#include
#include
int main(int argc, char** argv){
ROS_INFO("starte tf_broadcaster!");
ros::init(argc, argv, "robot_tf_publisher");
ros::NodeHandle n;
ros::Rate r(100);
tf::TransformBroadcaster broadcaster;
while(n.ok()){
broadcaster.sendTransform(
tf::StampedTransform(
tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.1, 0.0, 0.2)),
ros::Time::now(),"base_link", "base_laser"));
broadcaster.sendTransform(
tf::StampedTransform(
tf::Transform(tf::Quaternion(0, 0, 0, 0), tf::Vector3(0.0, 0.0, 0.0)),
ros::Time::now(),"odom", "base_link"));
broadcaster.sendTransform(
tf::StampedTransform(
tf::Transform(tf::Quaternion(0, 0, 0, 0), tf::Vector3(0.0, 0.0, 0.0)),
ros::Time::now(),"map", "odom"));
r.sleep();
}
}
If i start the Ros-Navigation the last Message is "odom received". All is ok!
So when i click on "2D Pose Estimate" the result is this:
https://www.dropbox.com/s/n211hzuvjrr4rdj/Screenshot%202015-04-29%2016.21.35.png?dl=0
The Odom-Frame and the base_link/base_laser-Frame are on two different places. Why?
if i still click on the button "2D Nav Goal" the robot rotates in a circle and i get an Error:
"Rotate recovery can't´t rotate in place because there is a potential collision. cost -1.00"
Here is the log:
https://www.dropbox.com/s/7d4fv3ad2h277at/%20log.png?dl=0
I think the Problem is the Transform-Broadcaster. Can anybody help me?
Thanks
Max
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robot starts drifiting/rotating in RVIZ, issues with odometry data or amcl
Hi all,
I have a mobile robot and I would like it to navigate around the building and I already have a map of the building. I am using wheel encoders to generate [odometry message](http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom), [robot_pose_ekf](http://wiki.ros.org/robot_pose_ekf) to fuse data from IMU and wheel_encoders, [amcl](http://wiki.ros.org/amcl) for localization and [move_base](http://wiki.ros.org/move_base) for planning. I am using hokuyo laser for navigation. The transformations and tf tree seems to be correct.
Once I start the robot (initial pose of the robot is specified using the parameters of amcl), everything looks good, I have attached the RVIZ image below:
Now, when I rotate the robot at its initial position manually just to see whether the odometry data and localization is working properly, say I rotate the robot by 90 degrees in clockwise direction and then again 90 degrees in anticlockwise direction manually to bring it to the original position, it seems to be working at first but after some time, the robot in RVIZ starts drifting although the actual robot is stationary. It will keep on drifting and will stop at some random and wrong position. I have attached images below (the actual position of the robot is same as the above image):
Also, when I give a goal to the robot, it is able to go towards the goal position but once it is close to the goal position, it again starts behaving in a weird manner (starts rotating in a random way which messes up the localization of the robot).
I am not able to figure out whether the problem lies in the odometry data or amcl localization. If anyone has any idea about how to solve such an issue, any help will be greatly appreciated. Let me know if you need more information from my side.
Thanks in advance.
Naman Kumar
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Using the estimated robot pose from robot_pose_ekf with amcl
Hi all,
I am using [robot_pose_ekf](http://wiki.ros.org/robot_pose_ekf) to fuse data from Wheel encoders and IMU to estimate the 3D pose of the robot. Then, I am using [amcl](http://wiki.ros.org/amcl) to take care of odometry drift and finally the [move_base](http://wiki.ros.org/move_base) package does the navigation. I am generating the odom message of the type `nav_msgs/Odometry` from the wheel encoders which is used by the [base_local_planner](http://wiki.ros.org/base_local_planner?distro=indigo). I know robot_pose_ekf provides odom_combined to base_link transformation which is used by amcl.
My question is once robot_pose_ekf fuses the data from wheel encoders and IMU and generates the estimated 3D pose of the robot of the type `geometry_msgs/PoseWithCovarianceStamped` on the topic `robot_pose_ekf/odom_combined`, how and where is this output used in the navigation package as a whole (move_base or amcl)?
Thanks in advance.
Naman Kumar
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AMCL Localization, Drifts when turning
Hi people, I am using a differential drive robot with a sick laser scanner.
When I am driving him forwards everything is fine but when I start turning the LaserScan doesnt match with the map and it starts drifting.
I am only using AMCL and not robot_pose_ekf, do I need to use this?
Here is my current tf tree.
Here is a Screenshot when I drove forwards:
and once I am starting to turn the robot the laserscan (red boxes) dont match with the map anymore :/
I have really no idea where to look for the mistake:
Hope you can help, greeting
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problem with robot localization using amcl
Hi all,
I have a mobile robot and I would like it to navigate in a room, I already have a map of the room. I am using wheel encoders for the odometry, [robot_pose_ekf](http://wiki.ros.org/robot_pose_ekf) for fusing data from wheel encoders and IMU and to get the `odom_combined -> base_footprint` transformation. Then , I have [amcl](http://wiki.ros.org/amcl) for localization and [move_base](http://wiki.ros.org/move_base) is doing the planning.
I am able to start everything smoothly and give the goal through RVIZ and the tf tree looks correct:
After I give the goal, robot starts moving towards it and on the way, its localization gets messed up. Once, it is close to the goal it starts rotating in a random manner which also messes up the localization of the robot. The problem is more common when it is near to the goal, it starts rotating randomly and gets lost. Also sometimes, I get the warning:
Clearing costmap to unstuck robot (3.000000m).
Rotate recovery behavior started.
but I dont see the robot being stuck. I think there is some issue with amcl but I am not sure.
I saved all the data in a bag file and ran it and made two videos for two different goal positions. In first two cases, the correct orientation should be pi/2 (south direction) and in the last case the robot should point right:
[Video - 1](https://www.youtube.com/watch?v=sImBoaYiECs)
[Video - 2](https://www.youtube.com/watch?v=_OELo4rNPU8)
[Video - 3](https://youtu.be/rUrzx-wlFXE)
The parameters for amcl is shown below:
**amcl.launch**
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robot_base_frame parameter in move_base/amcl
Hi all,
I have a mobile robot with IMU, wheel encoders and hokuyo laser. I am following [this](http://answers.ros.org/question/11682/robot_pose_ekf-with-an-external-sensor/) to set up the transformations and all the frames. I am using robot_pose_ekf to fuse data from IMU and wheel encoders and get the `odom_combined -> base_footprint` transformation. As suggested in the above link, in wheel_odometry, `odom_combined` is the header frame id and `base_footprint` is the child_frame_id and I have a fixed transformation from `base_footprint->base_link` . Now my question is what should be the robot_base_frame parameter in `global_costmap_params.yaml` and `local_costmap_params.yaml` in move_base? Should it be base_link(this is the default) or base_footprint and why?
Also, what should be the `base_frame_id` parameter in AMCL, base_link or base_footprint?
Thanks in advance.
Naman Kumar
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Confused about velocities at base local planner
Hi there, I am totally confused about the speeds.
My robot is moving forward with +- 0.14 so I am setting max_vel_x = 0.14 and min_vel_x to 0.
In angular direction it is moving aswell with +-0.14 but what do I have to set the max_vel_theta, min_vel_theta, min_in_place_theta, max_rotational_vel, min_in_place_rotational_vel?
I hope someone can help!
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navigation stack get crash
Hi, I am working with the navigation stack and when I command a goal (by rviz) which is inside an obstacle I get the following error. This is something I have begun to experience recently (after upgrading some Ros packages).
If you need any configuration file, I can provide them.
[ WARN] [1413287442.128433137, 500.284000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 1.0820 seconds
[ WARN] [1413287447.391084978, 502.616000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 2.1320 seconds
[ WARN] [1413287450.041637304, 503.840000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 1.2240 seconds
[ WARN] [1413287452.804671449, 505.062000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 1.0220 seconds
[ WARN] [1413287452.835355243, 505.075000000]: Clearing costmap to unstuck robot.
[move_base-3] process has died [pid 16397, exit code -11, cmd /home/summitxl/ros_catkin_ws/install_isolated/lib/move_base/move_base odom:=odometry/filtered hokuyo_laser_topic:=scan cmd_vel:=/summit_xl_robot_control/command __name:=move_base __log:=/home/summitxl/.ros/log/3bb2ad12-5396-11e4-ac48-9cb70d1c3f04/move_base-3.log].
log file: /home/summitxl/.ros/log/3bb2ad12-5396-11e4-ac48-9cb70d1c3f04/move_base-3*.log
Thank you
My debug output is here:
https://gist.github.com/arenillas/2408efc78094d1a0be24
EDIT:
Using the parameter default_tolerance (5 meters) the result is:
[ WARN] [1414505173.888202638, 61.526000000]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.7650 seconds
[ WARN] [1414505173.930135630, 61.537000000]: Invalid Trajectory 0.000000, 0.000000, -0.400000, cost: -1.000000
And after some time and repetitions of these two warnings:
[ WARN] [1414505212.929234900, 71.937000000]: Clearing costmap to unstuck robot.
[move_base-3] process has died [pid 3922, exit code -11, cmd /home/summitxl/ros_catkin_ws/install_isolated/lib/move_base/move_base odom:=odometry/filtered hokuyo_laser_topic:=scan cmd_vel:=/summit_xl_robot_control/command __name:=move_base __log:=/home/summitxl/.ros/log/24466806-5eab-11e4-bdf7-047d7b44770f/move_base-3.log].
log file: /home/summitxl/.ros/log/24466806-5eab-11e4-bdf7-047d7b44770f/move_base-3*.log
EDIT:
Finally, it was a problem in costmap package. It has been fixed.
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RFID in localization ?
Hi folks,
Does someone tested the improvement of localization of a mobile robot like turtlebot using RFID technology ?
The AMCL method uses the kinect or laser sensor to localize the robot and I think that may be it's interesting to add RFID tags to improve the localization !
Waiting for your answers.
Best Regards.
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Using map for pose estimation
Hello,
Quite a newbie question, but I can't understand the right way to do things properly.
(I'm using groovy under Ubuntu 12.04).
I want to get a position and orientation estimations of my PR2 robot (simulated or real) in my node.
I have gmapping running that builds me a map and publish a transform between the frame odom_combined and map.
On the other hand, I subscribed to the /robot_pose_ekf/odom_combined topic and I get frequent odometry pose estimations. I understand that I could use AMCL for localisation (which provides the amcl_pose topic) but to keep my architecture simple, I just want to use gmapping. I don't use only the odom estimation because of its drift over time.
I also "lookup for transform" between odom and map :
(...)
try
{
nhCall_.getParam("gmapping_node/odom_frame", frameToTransform);
listener.lookupTransform("/map", frameToTransform, ros::Time(0), transform_base);
}
(...)
But how do I use the transform (transform_base) as a pose estimation ? As it is a StampedTransform, I can't directly set it as my pose. When trying to set, field by field the Pose message with the transform data, I end up with the following warning :
[ WARN] [1432023038.082861765, 6687.377000000]: MSG to TF: Quaternion Not Properly Normalized
and I'm not sure normalizing it by hand is the best solution (the warning still appears when rotating).
So can someone explain me the right way to use a transform for pose estimation ?
Thanks,
Erwan
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