Difference between revisions of "Navigation Tuning"
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(→meter_scoring) |
(→Removing Warning Messages) |
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Add the following to base_local_planner_params.yaml. | Add the following to base_local_planner_params.yaml. | ||
meter_scoring: true | meter_scoring: true | ||
+ | |||
+ | == laser_link == | ||
+ | |||
+ | [ WARN] [1478203082.270333593]: MessageFilter [target=map laser_link ]: Dropped 100.00% of messages so far. | ||
+ | Please turn the [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for more information. | ||
+ | |||
+ | Replaced laser_link in costmap_common_params.yaml with neato_laser. It should be: | ||
+ | |||
+ | scan: {sensor_frame: neato_laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true} | ||
+ | |||
+ | This matches neato_laser link in the base_to_laser transform node launched in tf_laser.launch. | ||
+ | |||
+ | <launch> | ||
+ | <node pkg="tf" type="static_transform_publisher" name="base_to_laser" | ||
+ | args="0.202 0 0.111 0 0 0 1 base_link neato_laser 100" /> | ||
+ | </launch> | ||
= Odometry (1.2) = | = Odometry (1.2) = |
Revision as of 21:20, 6 November 2016
Contents
References
- Navigation Tuning Guide
- ROS Navigation Tuning Guide by Kaiyu Zheng student at University of Washington.
Removing Warning Messages
meter_scoring
[ WARN] [1478392084.188946161]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
Add the following to base_local_planner_params.yaml.
meter_scoring: true
laser_link
[ WARN] [1478203082.270333593]: MessageFilter [target=map laser_link ]: Dropped 100.00% of messages so far. Please turn the [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for more information.
Replaced laser_link in costmap_common_params.yaml with neato_laser. It should be:
scan: {sensor_frame: neato_laser, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
This matches neato_laser link in the base_to_laser transform node launched in tf_laser.launch.
<launch> <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.202 0 0.111 0 0 0 1 base_link neato_laser 100" /> </launch>
Odometry (1.2)
Run
Terminal 1
roscore
Terminal 2
roslaunch floor_hugger keyboard_teleop.launch
Terminal 3
roslaunch floor_hugger active_mapping.launch
Used "d" to rotate the Floor Hugger slowly clockwise. The following is after four or more rotations. Edges look well defined.