Hi everyone.
I'm having a hard time with simulating the SLAM algorithms using KUKA YOUBOT and ROS GAZEBO and RVIZ.
At the first, following the tutorial and modifying it in according to use it on the YOUBOT I was able to move the robot around in the GAZEBO and see the map in the rviz, however the output map was an empty image but still I could see it in the RVIZ.
Afterward I messed up with tf and costmaps trying to have an output map... It didn't work and I couldn't bring it in the previous condition.. I changed TF tree and costmaps parameters.
this is the frames tree:
PDF:
docs.google.com/file/d/0B_IPYGaJlxxtRnBjX2wzQjJFT2M/edit (Link Text)
Image:
docs.google.com/file/d/0B_IPYGaJlxxtUl95dVdoZTd1WEk/edit (Link Text)
and then after I messed up with costs-map parameters. afterward I have Cost-maps as following texts:
**Common Parameters:**
> map_type: costmap transform_tolerance:> 0.2 obstacle_range: 2.5 raytrace_range: 3.0 inflation_radius:> 0.25>> observation_sources: base_scan>> base_scan: {sensor_frame:> base_laser_front_link,> data_type: LaserScan,> topic: /base_scan,> expected_update_rate: 0.0,> observation_persistence: 0.0,> marking: true,> clearing: true,> min_obstacle_height: -0.10,> max_obstacle_height: 2.0}
**Global parameters**
#Independent settings for the planner's costmap
> global_costmap:> publish_voxel_map: true> global_frame: /map> robot_base_frame: base_link> update_frequency: 5.0> publish_frequency: 2.0> static_map: false> rolling_window: true>> **And the Local one:**> #Independent settings for the local costmap local_costmap:> publish_voxel_map: true> global_frame: /odom> robot_base_frame: base_link> update_frequency: 5.0> publish_frequency: 2.0> static_map: false> rolling_window: true> width: 10.0> height: 10.0> resolution: 0.5> origin_x: 0.0> origin_y: 0.0
**Move_Base Parameters:**
footprint: [[0.26, 0.18],
[0.26, 0.014],
[0.31, 0.014],
[0.31, -0.014],
[0.26, -0.014],
[0.26, -0.18],
[-0.27, -0.18],
[-0.27, 0.18]]
controller_frequency: 10.0
controller_patience: 15.0
clearing_radius: 0.25
footprint_padding: 0.03
**Base local planner parameters:**
# Robot Configuration Parameters
TrajectoryPlannerROS:
acc_lim_x: 1.25
acc_lim_y: 1.25
acc_lim_th: 1.6
max_vel_x: 0.5
min_vel_x: 0.1
max_rotational_vel: 1.2
min_in_place_rotational_vel: 0.1
escape_vel: -0.1
holonomic_robot: true
# Goal Tolerance Parameters
xy_goal_tolerance: 0.1
yaw_goal_tolerance: 0.1
# Forward Simulation Parameters
sim_time: 1.7
sim_granularity: 0.025
vx_samples: 3
vtheta_samples: 6
# Trajectory Scoring Parameters
goal_distance_bias: 0.8
path_distance_bias: 0.6
occdist_scale: 0.01
heading_lookahead: 0.325
dwa: false
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.01
**AMCL :**
↧