[Fuerte] Using amcl with a Real Robot - problem with People Bot

[da-na]

Hi there!

I'm trying to follow the steps given in section 8.5.2 to move and localize my PeopleBot robot around, but unfortunately I have errors.

I have my own map, my steps are: 

1. rosrun ROSARIA RosAria  // this is to move PB around, though it's not original I modified it a little

2. roslaunch turtlebot_bringup kinect.launch // to use Kinect Xbox

3. roslaunch rbx1_nav tb_amcl.launch map:=parter.yaml

4. rosrun rviz rviz -d `rospack find rbx1_nav`/nav_ekf_fuerte.vcg

And unfortunately I get the following errors:

 in terminal no. 3 (tb_amcl.launch)

[ WARN] [1366651827.317970876]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 

and in terminal no. 4 (rviz)

[ WARN] [1366651815.290862402]: MessageFilter [target=/map ]: Dropped 100,00% of messages so far. Please turn the [ros.rviz.message_notifier] rosconsole logger to DEBUG for more information.

Even though I clicked 2D Pose Estimate and afterwards I set the goal position, nothing changes.

Could you help me please? Any idea where the bug could be?

Cheers,

Dagna

[Patrick Goebel]

Hi Dagna,

I don't have access to a PeopleBot but it sounds like your driver might not be publishing a required tf transform between the /base_link and /odom frames.  After running your robot's startup launch file, try the command:

$ rosrun tf tf_echo /odom /base_link

It should produce a result similar to this:

At time 1366678105.428
- Translation: [0.000, 0.000, 0.017]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
            in RPY [0.000, 0.000, 0.000]
At time 1366678106.328
- Translation: [0.000, 0.000, 0017]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
            in RPY [0.000, 0.000, 0.000]
etc.

If you don't get something like this, try the command:

$ rosrun tf view_frames

This will generate a PDF file called frames.pdf in the current directory.  Bring this up in your favorite PDF reader (e.g. 'evince frames.pdf') and also post back the file to the group if you don't see the problem.

--patrick

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[da-na]

Thanks for your fast reply!

Unfortunately, the transformation is published. I enclose generated pdf (It's the same if I run only first 2 steps, or all 4 of them).

I enclose also a map - maybe it's sth wrong with the map?

W dniu wtorek, 23 kwietnia 2013 03:00:16 UTC+2 użytkownik Pi Robot napisał:

Hi Dagna,

I don't have access to a PeopleBot but it sounds like your driver might not be publishing a required tf transform between the /base_link and /odom frames.  After running your robot's startup launch file, try the command:

$ rosrun tf tf_echo /odom /base_link

It should produce a result similar to this:

At time 1366678105.428
- Translation: [0.000, 0.000, 0.017]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
            in RPY [0.000, 0.000, 0.000]
At time 1366678106.328
- Translation: [0.000, 0.000, 0017]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
            in RPY [0.000, 0.000, 0.000]
etc.

If you don't get something like this, try the command:

$ rosrun tf view_frames

This will generate a PDF file called frames.pdf in the current directory.  Bring this up in your favorite PDF reader (e.g. 'evince frames.pdf') and also post back the file to the group if you don't see the problem.

--patrick

On 04/22/2013 10:40 AM, da-na wrote:

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[da-na]

Hello,

I turned on rxconsole, and found out one more warning

-----------

Node: /amcl

Time: 1366709506.039584814

Severity: Warn

Location: /tmp/buildd/ros-fuerte-navigation-1.8.3/debian/ros-fuerte-navigation/opt/ros/fuerte/stacks/navigation/amcl/src/amcl_node.cpp:checkLaserReceived:540

Published Topics: /rosout, /tf, /amcl_pose, /particlecloud, /amcl/parameter_descriptions, /amcl/parameter_updates

No laser scan received (and thus no pose updates have been published) for 1366709506.039474 seconds.  Verify that data is being published on the /narrow_scan topic.

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

But when I run rostopic echo /narrow_scan I get:

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

---

header: 

  seq: 1716

  stamp: 

    secs: 1366709470

    nsecs: 793361122

  frame_id: /camera_depth_frame

angle_min: -1.57079637051

angle_max: 1.57079637051

angle_increment: 0.00872664619237

time_increment: 0.0

scan_time: 0.0333333350718

range_min: 0.449999988079

range_max: 10.0

ranges: [11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 3.4507691860198975, 3.445331335067749, 3.493838310241699, 3.643068552017212, 3.7325100898742676, 3.82574462890625, 3.9260661602020264, 4.033405303955078, 4.196800231933594, 4.322198867797852, 4.4607648849487305, 4.608325004577637, 4.7053608894348145, 4.874077796936035, 4.848755836486816, 4.891362190246582, 4.882247447967529, 4.873256683349609, 4.912632942199707, 4.89836311340332, 4.81922721862793, 4.87358283996582, 4.923630714416504, 4.844900608062744, 4.832454204559326, 4.820381164550781, 4.873932838439941, 4.799600124359131, 4.790760040283203, 4.8406829833984375, 4.830380916595459, 4.8243889808654785, 4.812833309173584, 4.803642272949219, 4.73236608505249, 4.72401237487793, 4.7800493240356445, 4.778486251831055, 4.89880895614624, 4.825390815734863, 4.886468410491943, 4.8802080154418945, 4.80687141418457, 4.804688930511475, 4.8649582862854, 4.8612213134765625, 4.789677619934082, 4.785882472991943, 4.783811569213867, 4.84726095199585, 4.845123291015625, 4.842844009399414, 4.841002464294434, 4.839844703674316, 4.838791847229004, 4.838634014129639, 4.906002521514893, 4.906002521514893, 4.906500816345215, 4.906803131103516, 4.907871246337891, 4.98008918762207, 4.911339282989502, 4.984328269958496, 4.986527442932129, 4.989680290222168, 4.992525577545166, 4.999073505401611, 5.000888824462891, 5.004733085632324, 5.013273239135742, 4.946383476257324, 5.020421028137207, 4.959166526794434, 4.960539817810059, 5.039556503295898, 4.976778984069824, 5.055314064025879, 5.062100410461426, 5.070969581604004, 5.15477991104126, 5.093991756439209, 5.172841548919678, 5.04422664642334, 5.119439601898193, 5.206004619598389, 5.147275924682617, 5.154603481292725, 5.2429304122924805, 5.3341217041015625, 5.347860336303711, 5.3620076179504395, 5.376561164855957, 5.472521781921387, 5.409991264343262, 5.422624111175537, 5.520481586456299, 5.455300331115723, 5.639854907989502, 5.575552940368652, 5.593573093414307, 5.698277473449707, 5.717341899871826, 5.740716934204102, 5.7606072425842285, 5.8014912605285645, 5.805660247802734, 5.835241794586182, 5.852458953857422, 5.969970703125, 5.997134208679199, 5.946501731872559, 5.955771446228027, 6.086427211761475, 6.1058454513549805, 6.051370143890381, 6.081055164337158, 6.1010966300964355, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0, 11.0]

intensities: []

---

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

Hope this helps you to help me ;)

Cheers,

Dagna

[Patrick Goebel]

Hi Dagna,

Is the /camera_depth_frame defined as a link your robot's URDF model?
You can take a look at the TurtleBot's URDF model to see how its done there:

/opt/ros/fuerte/stacks/turtlebot/turtlebot_description/urdf

If you already have a camera frame in your URDF model but its not called
"camera_depth_frame", it might be sufficient to make a copy of the
kinect.launch file and change the frame names there to match your URDF.
(Note that if you want the Kinect to be accurately placed within your
URDF model, you will probably need to tweak your URDF model anyway,
unless you have mounted the Kinect on the PeopleBot right where the
existing camera frame is.)

Also, in case you haven't already thought of it, make sure you change
the "scan" source topic in your costmap_common_params.yaml file to
"narrow_scan". (I saw on answers.ros.org that you have already done
this in your amcl.launch file.)

--patrick

[da-na]

Patrick, 

I now realised, that I skipped firing up roslaunch turtlebot_bringup turtlebot.launch. I mean, I don't have any URDF of my robot, so probably this might be the cause of my problems. I'll make the model, and will post back whether ths helped or not.

Cheers,

Dagna