Revision as of 21:29, 6 November 2016

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>

loop missed its desired rate

 [ WARN] [1472599582.846147341]: Map update loop missed its desired rate of 3.0000Hz... 
                                 the loop actually took 0.6902 seconds
 [ WARN] [1472599583.225435205]: Control loop missed its desired rate of 20.0000Hz... 
                                 the loop actually took 0.0500 seconds

I believe this went away by specifying the following in the files:

global_costmap_params.yaml:

 update_frequency: 1.0
 publish_frequency: 0.5

local_costmap_params.yaml:

 update_frequency: 1.0
 publish_frequency: 5.0

move_base_params.yaml:

 controller_frequency: 3.0
 planner_frequency: 1.0

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.