=====Debug 2D navigation =====
=== Measurements ===
When to do it: for example in case of uncontrolled "recovery behavior"
  - measure: 
    * make a bag: ''cd bagfiles; rosbag record -a ''
  - replay the bag : ''rosbag play mybagfile.bag''
  - visualize the data:
    * getting information on a bag:
      * command line: ''rosbag info mybag.bag ''
      * in python : see [[http://wiki.ros.org/rosbag/Cookbook#Get_summary_information_about_a_bag| tutorial]]
    * rosbag API+python:  [[http://wiki.ros.org/rosbag/Code%20API|rosbag API]], in [[http://docs.ros.org/api/rosbag/html/python/|python API]]  <WRAP box 350px>''# to run in a python terminal \\ import rosbag\\ from std_msgs.msg import Int32, String\\ bag = rosbag.Bag('test.bag', 'r') '' </WRAP>
    * rqt_bag: ''rqt_bag'' and the "plot" plugin.
    * rqtplot:  ''rqt_plot /odom/twist/twist/angular/z /cmd_vel/angular/z''

  * possible causes:
    * check costmap_common_params: inflation_radius, footprint
    * check spurious points in laserscan

===Tune ===
  *nav ros+wifibot
    * plan général: [[image|http://wiki.ros.org/navigation/Tutorials/RobotSetup?action=AttachFile&do=get&target=overview_tf_small.png]]
    * q: pourquoi je vois pas costmap ?
    * odom_combined
      - visual odometry  [[http://wiki.ros.org/viso2_ros|viso2_ros]] (il faudra surement ajouter un paquet genre ros-hydro-usb-camera ou ros-hydro-uvs-camera ; quelle diffférence ??)
      - [[ekf|http://wiki.ros.org/robot_pose_ekf]]; voir aussi [[troubleshoot|http://wiki.ros.org/robot_pose_ekf/Troubleshooting]]; Q:  ajouter vision ??
      - [[imu|http://wiki.ros.org/imu_drivers#RosAPI]] (e.g. wii)
    * robot_ekf:
      * PROBLEME:  fitler time older .... =>rostopic echo tf
    * nav params [[web|http://wiki.ros.org/navigation/Tutorials/RobotSetup]]&nbsp;
      - global cost map: pas de map server => static_map=False ( [[web|http://wiki.ros.org/navigation/Tutorials/RobotSetup]])
      - base_local_planner_params: diminuer max_vel_x: 0.45,...
    * move base params [[web|http://wiki.ros.org/move_base?distro=hydro]]
      - info: [[expected behaviors|http://wiki.ros.org/move_base?distro=hydro#Expected_Robot_Behavior]]
      -info: implementation: [[class diagrams|&nbsp;https://docs.google.com/drawings/d/1012j70nNhQJ12ol6usWmxOLPiNteOTS1Ai_qbtoObjY/edit?pli=1]]
      - &nbsp;recovery behaviors: on peut le disabler avec [[http://wiki.ros.org/move_base#Parameters]]
    * Autres implémentations: http://code.google.com/p/roswifibot