When to do it: for example in case of uncontrolled “recovery behavior”

1. measure:
   • make a bag: cd bagfiles; rosbag record -a '' - replay the bag : ''rosbag play mybagfile.bag
2. visualize the data:
   • getting information on a bag:
     • command line: rosbag info mybag.bag '' * in python : see tutorial * rosbag API+python: rosbag API, in python API

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