Navigation problem: Rosbot2 does not move

lukasz.mitka · January 25, 2021, 5:25pm

In the log there is confirmation which nodes are launched:

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    joint_state_controller_spawner (controller_manager/spawner)
    map_odom_tf (tf/static_transform_publisher)
    map_server (map_server/map_server)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rosbot_spawn (gazebo_ros/spawn_model)
    rviz (rviz/rviz)

There is no move_base among them.
Have you ran catkin_make and sourced the workspace?

lukasz.mitka · January 25, 2021, 5:27pm

Terminal where you set the goal should have only publishing and latching message. Press ctrl-C to terminate

The move_base confirmation should be in the same log where it was launched.

Eman · January 25, 2021, 5:33pm

Sorry, this is the log:

... logging to /home/eman/.ros/log/ce329bbc-5f32-11eb-991e-e0f84736498c/roslaunch-eman-MacBookPro-21866.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro.py is deprecated; please use xacro instead
xacro.py is deprecated; please use xacro instead
started roslaunch server http://eman-MacBookPro:39171/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /move_base/TrajectoryPlannerROS/acc_lim_Y: 1.5
 * /move_base/TrajectoryPlannerROS/acc_lim_theta: 1.0
 * /move_base/TrajectoryPlannerROS/acc_lim_x: 1.5
 * /move_base/TrajectoryPlannerROS/controller_frequency: 0.5
 * /move_base/TrajectoryPlannerROS/gdist_scale: 0.2
 * /move_base/TrajectoryPlannerROS/goal_distance_bias: 0.2
 * /move_base/TrajectoryPlannerROS/holonomic_robot: False
 * /move_base/TrajectoryPlannerROS/max_vel_theta: 2.5
 * /move_base/TrajectoryPlannerROS/max_vel_x: 0.1
 * /move_base/TrajectoryPlannerROS/meter_scoring: True
 * /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.5
 * /move_base/TrajectoryPlannerROS/min_vel_theta: -2.5
 * /move_base/TrajectoryPlannerROS/min_vel_x: 0.05
 * /move_base/TrajectoryPlannerROS/occdist_scale: 0.01
 * /move_base/TrajectoryPlannerROS/path_distance_bias: 0.4
 * /move_base/TrajectoryPlannerROS/pdist_scale: 0.4
 * /move_base/TrajectoryPlannerROS/vtheta_samples: 20
 * /move_base/TrajectoryPlannerROS/vx_samples: 6
 * /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 3.0
 * /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 8.0
 * /move_base/base_global_planner: navfn/NavfnROS
 * /move_base/base_local_planner: base_local_planne...
 * /move_base/controller_frequency: 0.5
 * /move_base/global_costmap/always_send_full_costmap: True
 * /move_base/global_costmap/cost_scaling_factor: 10.0
 * /move_base/global_costmap/footprint: [[0.12, 0.14], [0...
 * /move_base/global_costmap/global_frame: map
 * /move_base/global_costmap/height: 8
 * /move_base/global_costmap/inflation_radius: 0.0
 * /move_base/global_costmap/laser_scan_sensor/clearing: True
 * /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan
 * /move_base/global_costmap/laser_scan_sensor/marking: True
 * /move_base/global_costmap/laser_scan_sensor/sensor_frame: laser
 * /move_base/global_costmap/laser_scan_sensor/topic: scan
 * /move_base/global_costmap/map_topic: /map
 * /move_base/global_costmap/observation_sources: laser_scan_sensor
 * /move_base/global_costmap/obstacle_range: 6.0
 * /move_base/global_costmap/origin_x: 0
 * /move_base/global_costmap/origin_y: 0
 * /move_base/global_costmap/publish_frequency: 1.5
 * /move_base/global_costmap/raytrace_range: 8.5
 * /move_base/global_costmap/resolution: 1
 * /move_base/global_costmap/robot_base_frame: base_link
 * /move_base/global_costmap/rolling_window: False
 * /move_base/global_costmap/static_map: True
 * /move_base/global_costmap/subscribe_to_updates: True
 * /move_base/global_costmap/transform_tolerance: 1.0
 * /move_base/global_costmap/update_frequency: 0.5
 * /move_base/global_costmap/width: 8
 * /move_base/local_costmap/always_send_full_costmap: True
 * /move_base/local_costmap/cost_scaling_factor: 10.0
 * /move_base/local_costmap/footprint: [[0.12, 0.14], [0...
 * /move_base/local_costmap/global_frame: map
 * /move_base/local_costmap/height: 3
 * /move_base/local_costmap/inflation_radius: 0.0
 * /move_base/local_costmap/laser_scan_sensor/clearing: True
 * /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan
 * /move_base/local_costmap/laser_scan_sensor/marking: True
 * /move_base/local_costmap/laser_scan_sensor/sensor_frame: laser
 * /move_base/local_costmap/laser_scan_sensor/topic: scan
 * /move_base/local_costmap/map_topic: /map
 * /move_base/local_costmap/observation_sources: laser_scan_sensor
 * /move_base/local_costmap/obstacle_range: 6.0
 * /move_base/local_costmap/origin_x: 0
 * /move_base/local_costmap/origin_y: 0
 * /move_base/local_costmap/publish_frequency: 2.5
 * /move_base/local_costmap/raytrace_range: 8.5
 * /move_base/local_costmap/resolution: 1
 * /move_base/local_costmap/robot_base_frame: base_link
 * /move_base/local_costmap/rolling_window: True
 * /move_base/local_costmap/static_map: False
 * /move_base/local_costmap/subscribe_to_updates: True
 * /move_base/local_costmap/transform_tolerance: 1.0
 * /move_base/local_costmap/update_frequency: 2.5
 * /move_base/local_costmap/width: 3
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.10
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    joint_state_controller_spawner (controller_manager/spawner)
    map_odom_tf (tf/static_transform_publisher)
    map_server (map_server/map_server)
    move_base (move_base/move_base)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rosbot_spawn (gazebo_ros/spawn_model)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [21882]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ce329bbc-5f32-11eb-991e-e0f84736498c
process[rosout-1]: started with pid [21893]
started core service [/rosout]
process[joint_state_controller_spawner-2]: started with pid [21896]
process[rosbot_spawn-3]: started with pid [21897]
process[robot_state_publisher-4]: started with pid [21898]
process[gazebo-5]: started with pid [21899]
process[gazebo_gui-6]: started with pid [21902]
process[rviz-7]: started with pid [21917]
process[map_server-8]: started with pid [21920]
process[map_odom_tf-9]: started with pid [21921]
process[move_base-10]: started with pid [21922]
[INFO] [1611595743.428875, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ WARN] [1611595743.429422941]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1611595749.837622292]: rviz version 1.13.14
[ INFO] [1611595749.837726143]: compiled against Qt version 5.9.5
[ INFO] [1611595749.837781075]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1611595749.897353807]: Forcing OpenGl version 0.
[ INFO] [1611595756.378945637]: Stereo is NOT SUPPORTED
[ INFO] [1611595756.379206265]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1611595760.121698291]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1611595760.128780673]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1611595760.177745810]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1611595760.178108613]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1611595763.032641293]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1611595763.162471552, 0.050000000]: Physics dynamic reconfigure ready.
[INFO] [1611595763.281810, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1611595763.325880, 0.208000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1611595763.332514, 0.221000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1611595763.611872066, 0.381000000]: Creating 1 swatches
[ INFO] [1611595765.188592616, 0.381000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1611595765.381932654, 0.381000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1611595765.757202076, 0.381000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1611595765.757446736, 0.381000000]: Starting GazeboRosLaser Plugin (ns = /)
[INFO] [1611595765.852151, 0.381000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1611595765.943313958, 0.381000000]: GPU Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1611595765.946902460, 0.381000000]: LoadThread function completed
[ INFO] [1611595766.032794423, 0.381000000]: <robotNamespace> set to: //
[ INFO] [1611595766.032928337, 0.381000000]: <topicName> set to: //imu
[ INFO] [1611595766.032991682, 0.381000000]: <frameName> set to: imu_link
[ INFO] [1611595766.033088365, 0.381000000]: <updateRateHZ> set to: 10
[ INFO] [1611595766.033159168, 0.381000000]: <gaussianNoise> set to: 0
[ INFO] [1611595766.033237121, 0.381000000]: <xyzOffset> set to: 0 0 0
[ INFO] [1611595766.033375894, 0.381000000]: <rpyOffset> set to: 0 -0 0
[rosbot_spawn-3] process has finished cleanly
log file: /home/eman/.ros/log/ce329bbc-5f32-11eb-991e-e0f84736498c/rosbot_spawn-3*.log
[ INFO] [1611595766.721862967, 0.381000000]: Starting GazeboRosSkidSteerDrive Plugin (ns = //)
[ INFO] [1611595766.914080023, 0.381000000]: Loading gazebo_ros_control plugin
[ INFO] [1611595766.914459263, 0.381000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1611595766.915569224, 0.381000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1611595767.204655596, 0.381000000]: Loaded gazebo_ros_control.
[INFO] [1611595767.334765, 0.396000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1611595767.338144, 0.396000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1611595767.341776, 0.397000]: Loading controller: joint_state_controller
[INFO] [1611595767.367816, 0.399000]: Controller Spawner: Loaded controllers: joint_state_controller
[INFO] [1611595767.381275, 0.400000]: Started controllers: joint_state_controller
[ WARN] [1611595768.459991013, 0.482000000]: global_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters
[ INFO] [1611595768.526780769, 0.486000000]: global_costmap: Using plugin "static_layer"
[ INFO] [1611595768.624103368, 0.492000000]: Requesting the map...
[ INFO] [1611595770.148566409, 0.595000000]: Resizing costmap to 8 X 8 at 1.000000 m/pix
[ INFO] [1611595771.498608181, 0.693000000]: Received a 8 X 8 map at 1.000000 m/pix
[ INFO] [1611595771.504104242, 0.693000000]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1611595771.509564713, 0.693000000]:     Subscribed to Topics: laser_scan_sensor
[ INFO] [1611595771.554197451, 0.696000000]: global_costmap: Using plugin "inflation_layer"
[ WARN] [1611595771.677809214, 0.704000000]: local_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters
[ INFO] [1611595771.710115181, 0.706000000]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1611595771.714131593, 0.706000000]:     Subscribed to Topics: laser_scan_sensor
[ INFO] [1611595771.759686839, 0.708000000]: local_costmap: Using plugin "inflation_layer"
[ INFO] [1611595771.909435833, 0.717000000]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1611595771.933737852, 0.718000000]: Sim period is set to 2.00
[ INFO] [1611595812.657764100, 2.723000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1611595812.725165934, 2.725000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1611595812.911193942, 2.730000000]: odom received!

lukasz.mitka · January 25, 2021, 6:07pm

I have made few changes to your move base configuration files:

Global costmap:

global_costmap:
  global_frame: map
  update_frequency: 0.5 
  publish_frequency: 1.5
  transform_tolerance: 1.0
  width: 16
  height: 16
  origin_x: -8
  origin_y: -8
  static_map: true
  rolling_window: true 
  inflation_radius: 0.0
  cost_scaling_factor: 10.0 
  resolution: 0.01

Parameter resolution defines the grid where planner should search for possible path. When it is set to 1, path will be aligned to 1 meter grid, this value should be definitely smaller.
Parameter rolling_window defines if costmap should follow robot. Otherwise it will be resized to map dimensions. Due to the fact that your map has resolution of 1 meter, costmap can not be resized to it or it will behave like resolution was set to 1.

Local costmap:

local_costmap:
  global_frame: map 
  update_frequency: 2.5 
  publish_frequency: 2.5 
  transform_tolerance: 1.0 
  static_map: false 
  rolling_window: true
  width: 3 
  height: 3
  origin_x: -1.5
  origin_y: -1.5
  resolution: 0.01
  inflation_radius: 0.0 
  cost_scaling_factor: 10.0

Costap with rolling_window enabled should have its center in robot position, thus origin is moved by -1.5 on both axes.

Trajectory planner:

TrajectoryPlannerROS:
 max_vel_x: 0.1
 min_vel_x: 0.05
 max_vel_theta: 2.5
 min_vel_theta: -2.5
 min_in_place_vel_theta: 0.5
 acc_lim_theta: 1.0
 acc_lim_x: 1.5
 acc_lim_Y: 1.5
 holonomic_robot: false
 meter_scoring: true
 xy_goal_tolerance: 0.5
 yaw_goal_tolerance: 0.5

 vx_samples: 6 
 vtheta_samples: 20
 controller_frequency: 0.5 

  
 occdist_scale:  0.01
 pdist_scale: 0.4
 gdist_scale: 0.2
 

 path_distance_bias: 0.4
 goal_distance_bias: 0.2

Parameter xy_goal_tolerance defines how far from destination planner should consider it as achieved. Distance is in meters.
Parameter yaw_goal_tolerance is analogous to xy_goal_tolerance but for angular position, unit is radian.

Regards,
Łukasz

Eman · January 25, 2021, 7:50pm

Many thanks. The global path appears as it should be. However, the rosbot moves for a while, then rotates for a long time, then continues rotating and moving at the same time. Which parameter I need to modify?

It reaches the goal position!
However, it was rotating while moving, also it takes a long time to reach it. Can I fix that?

lukasz.mitka · January 26, 2021, 8:07am

You should try with changing:

<param name="controller_frequency" value="20"/>

The parameter controller_frequency defines how often to recalculate velocity commands, value is in Hz.
You may try with values in range from 10 to 50.

Eman · January 27, 2021, 11:22am

the “controller_frequency” was 0.5
I change it to 10,20, 50, and 100, all these values stop the rotation behavior. However, rosbot is too slow and seems as crawling.

lukasz.mitka · January 28, 2021, 1:51pm

ROSbot speed is limited by parameter max_vel_x, the value is in m/s.
Also the simulator speed may differ from real time. Depending on your PC performance the simulation time may be few times slower than real time.

You may check the time passed in simulation with:

rostopic echo /clock

Regards,
Łukasz