Dear Prof,
What is the output of exercise 4.5 ?
When I run the code for this exercise using command roslaunch my_move_base_launcher my_move_base_launch_1.launch , the robot doesn’t move anywhere. Also, there was nothing I could see about sending the velocity command with certain frequency. All I got was the output below:
… logging to /home/user/.ros/log/a28ffaec-380c-11eb-ac90-0242ac1e0007/roslaunch-2_xterm-1849.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://2_xterm:35627/
SUMMARY
========
PARAMETERS
** * /amcl/gui_publish_rate: 10.0**
** * /amcl/kld_err: 0.05**
** * /amcl/kld_z: 0.99**
** * /amcl/laser_lambda_short: 0.1**
** * /amcl/laser_likelihood_max_dist: 2.0**
** * /amcl/laser_max_beams: 60**
** * /amcl/laser_max_range: 12.0**
** * /amcl/laser_model_type: likelihood_field**
** * /amcl/laser_sigma_hit: 0.2**
** * /amcl/laser_z_hit: 0.5**
** * /amcl/laser_z_max: 0.05**
** * /amcl/laser_z_rand: 0.5**
** * /amcl/laser_z_short: 0.05**
** * /amcl/max_particles: 2000**
** * /amcl/min_particles: 500**
** * /amcl/odom_alpha1: 0.2**
** * /amcl/odom_alpha2: 0.2**
** * /amcl/odom_alpha3: 0.2**
** * /amcl/odom_alpha4: 0.2**
** * /amcl/odom_alpha5: 0.1**
** * /amcl/odom_frame_id: odom**
** * /amcl/odom_model_type: diff**
** * /amcl/recovery_alpha_fast: 0.0**
** * /amcl/recovery_alpha_slow: 0.0**
** * /amcl/resample_interval: 1**
** * /amcl/transform_tolerance: 1.0**
** * /amcl/update_min_a: 0.2**
** * /amcl/update_min_d: 0.25**
** * /amcl/use_map_topic: True**
** * /move_base/DWAPlannerROS/acc_lim_th: 3.2**
** * /move_base/DWAPlannerROS/acc_lim_x: 2.5**
** * /move_base/DWAPlannerROS/acc_lim_y: 0**
** * /move_base/DWAPlannerROS/latch_xy_goal_tolerance: False**
** * /move_base/DWAPlannerROS/max_rot_vel: 1.0**
** * /move_base/DWAPlannerROS/max_trans_vel: 0.5**
** * /move_base/DWAPlannerROS/max_vel_x: 0.5**
** * /move_base/DWAPlannerROS/max_vel_y: 0**
** * /move_base/DWAPlannerROS/min_rot_vel: 0.2**
** * /move_base/DWAPlannerROS/min_trans_vel: 0.1**
** * /move_base/DWAPlannerROS/min_vel_x: 0.0**
** * /move_base/DWAPlannerROS/min_vel_y: 0**
** * /move_base/DWAPlannerROS/xy_goal_tolerance: 0.2**
** * /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.1**
** * /move_base/NavfnROS/allow_unknown: True**
** * /move_base/NavfnROS/default_tolerance: 0.1**
** * /move_base/TrajectoryPlannerROS/acc_lim_theta: 3.2**
** * /move_base/TrajectoryPlannerROS/acc_lim_x: 2.5**
** * /move_base/TrajectoryPlannerROS/angular_sim_granularity: 0.02**
** * /move_base/TrajectoryPlannerROS/controller_frequency: 30.0**
** * /move_base/TrajectoryPlannerROS/dwa: True**
** * /move_base/TrajectoryPlannerROS/escape_reset_dist: 0.1**
** * /move_base/TrajectoryPlannerROS/escape_reset_theta: 0.1**
** * /move_base/TrajectoryPlannerROS/escape_vel: -0.1**
** * /move_base/TrajectoryPlannerROS/gdist_scale: 1.0**
** * /move_base/TrajectoryPlannerROS/heading_lookahead: 0.325**
** * /move_base/TrajectoryPlannerROS/heading_scoring: False**
** * /move_base/TrajectoryPlannerROS/heading_scoring_timestep: 0.8**
** * /move_base/TrajectoryPlannerROS/holonomic_robot: False**
** * /move_base/TrajectoryPlannerROS/latch_xy_goal_tolerance: False**
** * /move_base/TrajectoryPlannerROS/max_vel_theta: 1.0**
** * /move_base/TrajectoryPlannerROS/max_vel_x: 1.0**
** * /move_base/TrajectoryPlannerROS/meter_scoring: True**
** * /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.2**
** * /move_base/TrajectoryPlannerROS/min_vel_theta: -1.0**
** * /move_base/TrajectoryPlannerROS/min_vel_x: 0.0**
** * /move_base/TrajectoryPlannerROS/occdist_scale: 0.1**
** * /move_base/TrajectoryPlannerROS/oscillation_reset_dist: 0.25**
** * /move_base/TrajectoryPlannerROS/pdist_scale: 0.75**
** * /move_base/TrajectoryPlannerROS/publish_cost_grid_pc: True**
** * /move_base/TrajectoryPlannerROS/sim_granularity: 0.02**
** * /move_base/TrajectoryPlannerROS/sim_time: 2.0**
** * /move_base/TrajectoryPlannerROS/simple_attractor: False**
** * /move_base/TrajectoryPlannerROS/vtheta_samples: 20**
** * /move_base/TrajectoryPlannerROS/vx_samples: 6**
** * /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.2**
** * /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.1**
** * /move_base/base_global_planner: navfn/NavfnROS**
** * /move_base/base_local_planner: dwa_local_planner…**
** * /move_base/controller_frequency: 10.0**
** * /move_base/global_costmap/footprint: [[-0.5, -0.33], […**
** * /move_base/global_costmap/footprint_padding: 0.01**
** * /move_base/global_costmap/global_frame: map**
** * /move_base/global_costmap/inflation/inflation_radius: 1.0**
** * /move_base/global_costmap/obstacle_range: 5.5**
** * /move_base/global_costmap/obstacles_laser/laser/clearing: True**
** * /move_base/global_costmap/obstacles_laser/laser/data_type: LaserScan**
** * /move_base/global_costmap/obstacles_laser/laser/inf_is_valid: True**
** * /move_base/global_costmap/obstacles_laser/laser/marking: True**
** * /move_base/global_costmap/obstacles_laser/laser/topic: scan**
** * /move_base/global_costmap/obstacles_laser/observation_sources: laser**
** * /move_base/global_costmap/plugins: [{‘type’: 'costma…**
** * /move_base/global_costmap/publish_frequency: 3.0**
** * /move_base/global_costmap/raytrace_range: 6.0**
** * /move_base/global_costmap/resolution: 0.05**
** * /move_base/global_costmap/robot_base_frame: base_link**
** * /move_base/global_costmap/rolling_window: False**
** * /move_base/global_costmap/static/map_topic: /map**
** * /move_base/global_costmap/static/subscribe_to_updates: True**
** * /move_base/global_costmap/track_unknown_space: True**
** * /move_base/global_costmap/transform_tolerance: 0.5**
** * /move_base/global_costmap/update_frequency: 4.0**
** * /move_base/local_costmap/footprint: [[-0.5, -0.33], […**
** * /move_base/local_costmap/footprint_padding: 0.01**
** * /move_base/local_costmap/global_frame: odom**
** * /move_base/local_costmap/height: 10.0**
** * /move_base/local_costmap/inflation/inflation_radius: 1.0**
** * /move_base/local_costmap/obstacle_range: 5.5**
** * /move_base/local_costmap/obstacles_laser/laser/clearing: True**
** * /move_base/local_costmap/obstacles_laser/laser/data_type: LaserScan**
** * /move_base/local_costmap/obstacles_laser/laser/inf_is_valid: True**
** * /move_base/local_costmap/obstacles_laser/laser/marking: True**
** * /move_base/local_costmap/obstacles_laser/laser/topic: scan**
** * /move_base/local_costmap/obstacles_laser/observation_sources: laser**
** * /move_base/local_costmap/plugins: [{‘type’: 'costma…**
** * /move_base/local_costmap/publish_frequency: 3.0**
** * /move_base/local_costmap/raytrace_range: 6.0**
** * /move_base/local_costmap/resolution: 0.05**
** * /move_base/local_costmap/robot_base_frame: base_link**
** * /move_base/local_costmap/rolling_window: True**
** * /move_base/local_costmap/static/map_topic: /map**
** * /move_base/local_costmap/static/subscribe_to_updates: True**
** * /move_base/local_costmap/transform_tolerance: 0.5**
** * /move_base/local_costmap/update_frequency: 4.0**
** * /move_base/local_costmap/width: 10.0**
** * /move_base/recovery_behaviour_enabled: True**
** * /rosdistro: kinetic**
** * /rosversion: 1.12.14**
NODES
** /**
** amcl (amcl/amcl)**
** map_server (map_server/map_server)**
** move_base (move_base/move_base)**
ROS_MASTER_URI=http://2_simulation:11311
process[map_server-1]: started with pid [1858]
process[amcl-2]: started with pid [1859]
process[move_base-3]: started with pid [1864]
[ WARN] [1607297916.555371118, 6712.094000000]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist… canTransform returned after 6712.09 timeout was 0.1.
[ INFO] [1607297917.579333677, 6713.115000000]: Using plugin "static"
[ INFO] [1607297917.590093193, 6713.126000000]: Requesting the map…
[ INFO] [1607297917.796618712, 6713.331000000]: Resizing costmap to 608 X 608 at 0.050000 m/pix
[ INFO] [1607297917.896330472, 6713.431000000]: Received a 608 X 608 map at 0.050000 m/pix
[ INFO] [1607297917.896366028, 6713.431000000]: Subscribing to updates
[ INFO] [1607297917.907620304, 6713.442000000]: Using plugin "obstacles_laser"
[ INFO] [1607297917.911006741, 6713.445000000]: Subscribed to Topics: laser
[ INFO] [1607297917.960087487, 6713.495000000]: Using plugin "inflation"
[ INFO] [1607297918.039152087, 6713.574000000]: Using plugin "obstacles_laser"
[ INFO] [1607297918.042308354, 6713.577000000]: Subscribed to Topics: laser
[ INFO] [1607297918.075155098, 6713.610000000]: Using plugin "inflation"
[ INFO] [1607297918.139441929, 6713.674000000]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1607297918.146100996, 6713.680000000]: Sim period is set to 0.10
[ INFO] [1607297918.389344782, 6713.922000000]: Recovery behavior will clear layer obstacles
[ INFO] [1607297918.398131135, 6713.931000000]: Recovery behavior will clear layer obstacles