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Rwt_nav move_base/goal #118

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YXGuan opened this issue Feb 20, 2022 · 4 comments · Fixed by #119
Closed

Rwt_nav move_base/goal #118

YXGuan opened this issue Feb 20, 2022 · 4 comments · Fixed by #119

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@YXGuan
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YXGuan commented Feb 20, 2022

Does anyone know how to launch the amcl node and move_base node?.

I would really appreciate your help : )
Screenshot from 2022-02-19 20-08-24
@k-okada
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k-okada commented Feb 21, 2022

rwt_nav` is designed independent from specific robot, so you need to start amcl/move_base node by your robot's specific launch file.

@YXGuan
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YXGuan commented Feb 22, 2022

Thanks for your reply.

I was running turtle bot simulation on top of rwt_nav.
https://github.com/ROBOTIS-GIT/turtlebot3/tree/master/turtlebot3_navigation/launch

I can see position(pose) status update but the robot does not move when I set goal from the browser. Is this because there are two /move_base/goal running at the same time?

Here's a list of commands that I run:

  • roslaunch rwt_nav rwt_nav.launch
  • roslaunch turtlebot3_gazebo turtlebot3_world.launch
  • roslaunch turtlebot3_navigation turtlebot3_navigation.launch (which includes RVIZ)
  • rosrun rwt_nav robot_pose_publisher

k-okada added a commit to k-okada/visualization_rwt that referenced this issue Feb 22, 2022
@k-okada
move_base/goal requires frame_id, without starting '/'
85cb903 
Warning: Invalid argument /map passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like:
         at line 134 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
[ WARN] [1645522151.660224428, 19134.759000000]: Failed to transform the goal pose from /map into the map frame: Invalid argument /map passed to lookupTransform argument source_frame in tf2 frame_ids cannot start with a '/' like:
[ERROR] [1645522151.660344650, 19134.759000000]: The goal pose passed to this planner must be in the map frame.  It is instead in the /map frame.

Closes tork-a#118
@k-okada k-okada mentioned this issue Feb 22, 2022
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@k-okada
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k-okada commented Feb 22, 2022

@YXGuan Sorry, we need https://github.com/tork-a/visualization_rwt/pull/119/files to navigate through the web gui.

@YXGuan
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YXGuan commented Feb 22, 2022

That solves the issue. Thank you so much professor!

@YXGuan YXGuan closed this as completed Feb 22, 2022
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move_base/goal requires frame_id, without starting '/' k-okada/visualization_rwt
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@k-okada @YXGuan