Navigation Tuning

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.