Espace ressources

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

1. measure:
   • make a bag: cd bagfiles; rosbag record -a
2. replay the bag : rosbag play mybagfile.bag
3. 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')

   • 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

• 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