Issue using the navigation stack with Hydro

[Tomas Diaz]

Hello, 

We've been unsuccessfully trying to use the navigation stack with our PR2 (real and simulated (Gazebo)):

PR2

- ROS Version : Hydro (installed 04-05-2015)

- Packages installed: 

MoveIt!, depthimage_to_laserscan, clang, python-wstool, ninja, ccache, binutils-gold, htop, 2d_nav, pr2_navigation_self_filter

(plus a bunch of dependencies)

What we're currently doing:

The current steps we're taking (to use the navigation stack) are:
- Run the map server : rosrun map_server map_server mymap.yaml 

- Start the navigation stack: roslaunch pr2_2dnav pr2_2dnav

And then sending the goals in different ways:

1. With code (http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals)

2. Through Rviz (2DNav Goal): http://wiki.ros.org/pr2_2dnav

3. Directly publishing to both /move_base_simple/goal and /move_base/goal

When launching the navigation stack (using pr2_2dnav) we get the following errors:

Then when trying to send goals through code (as described in the tutorial http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals) it just stays there "Sending goal". When checking the /move_base/goal and /move_base/feedback topics we can see the goal being published and in the feedback topic we get "This goal has been accepted by the simple action server".

Through Rviz (using the 2DNav Goal button) and through direct publication to topics, there is no feedback on what is happening (just that it's not going anywhere). The /move_base/feedback is not displaying any info and also, we cannot estimate the pose using Rviz (through the 2D Pose Estimate) with the real PR2. 

What we haven't tried yet:

We haven't created our own launch file to start up the navigation stack.

-----------------------

We are not entirely sure where to look at, though it might seem like there could be a problem with the launch file we are using.

Any help or suggestion would be greatly appreciated !

Thanks in advance!

[Yuki Furuta]

Hi Diaz,

I think you need to add pr2_navigation stack to your catkin work space.

(I already reported at https://github.com/PR2/pr2_navigation/issues/19 )

Following procedure will solve this problem.

1. add package information to .rosinstall

$ cd /path/to/your/catkin_ws

$ wstool set pr2_navigation --git https://github.com/pr2/pr2_navigation -v 0.1.27 -t src

$ wstool up pr2_navigation -t src

2. build packages

$ catkin build pr2_2dnav # or catkin_make

3. launch again

$ source devel/setup.bash

$ roslaunch pr2_2dnav pr2_2dnav.launch

Cheers,

Yuki Furuta

JSK Lab.

-- Yuki Furuta

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[Tomas Diaz]

Hi Furuta, 

We followed the steps you indicated, plus another one we had to do right before your first step, which was to initialize the workspace:

$ wstool init ~/catkin_ws/src

We tried it with Gazebo and it worked ! 

In the PR2 we set up another user to try this out, with its own clean workspace and then following the steps you mentioned but unfortunately when we launch it with:

$roslaunch pr2_2dnav pr2_2dnav.launch

It keeps throwing the same error I mentioned in the first mail.

What are your thoughts on this? Could it be that we need to update Hydro or something entirely different?

Thank you very much for your help!

Cheers,

Tomás Díaz

[Yuki Furuta]

Hi Diaz,

What is configuration of your catkin workspace?

Please check by running `catkin config` in your workspace and `/opt/ros/hydro` is in Extending.

Also I’m not sure that your version of pr2_2dnav package, I doubt that there is missing dependency in pr2_2dnav.

Please try `catkin build pr2_navigation` along with `catkin build pr2_2dnav`?

Best,

Yuki Furuta

2016/04/12 6:45、Tomas Diaz <touma...@gmail.com> のメール：

[Tomas Diaz]

Hi Furuta, 

Thank you very much for your help and excuse us for the delay in answering, we had some issues trying to follow the steps you mentioned.

Firstly, we didn't have catkin_tools installed, so we created a new user to install it (and not affect the other users in the system) but we encountered some issues trying to install it there. We contacted Jonathan Bohren who is working in catkin tools and he told us how to proceed (and it is now updated in their installation page as well!).

We didn't have pip either so we had to install it and then manage some permissions between the users but eventually (after some other issues regarding connectivity to download dependencies...) we could install everything and did what you told us.

The result of running `catkin config` displays  /opt/ros/hydro in Extending as you mentioned and it can be seen in the following gist:

https://gist.github.com/TDiazT/3530bbaf342fe7e7555caf4e58e2aeb2

Meanwhile, the result of running `catkin build pr2_navigation` threw some errors, which again point to pr2_navigation_self_filter. The error messages are resumed in the following gist:

https://gist.github.com/TDiazT/43593423f8fa0afab5cb0fdfd3c7a275

Finally, we didn't run `catkin build pr2_2dnav` because that one is not in the workspace where we are working. Do you know how to get it similar to how we did with pr2_navigation (as you mentioned in your first mail)?

What do you think could be the cause of this? We are really grateful for your thoughts and help !

Sincerely,

Tomás