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 # http://wiki.ros.org/robot_pose_ekf; voir aussi http://wiki.ros.org/robot_pose_ekf/Troubleshooting; Q: ajouter vision ?? # http://wiki.ros.org/imu_drivers#RosAPI (e.g. wii) nav params http://wiki.ros.org/navigation/Tutorials/RobotSetup  # global cost map: pas de map server ⇒ static_map=False ( http://wiki.ros.org/navigation/Tutorials/RobotSetup) # base_local_planner_params: diminuer max_vel_x: 0.45,… move base params http://wiki.ros.org/move_base?distro=hydro # info: http://wiki.ros.org/move_base?distro=hydro#Expected_Robot_Behavior # info: implementation:  https://docs.google.com/drawings/d/1012j70nNhQJ12ol6usWmxOLPiNteOTS1Ai_qbtoObjY/edit?pli=1 # recovery behaviors: on peut le disabler avec http://wiki.ros.org/move_base#Parameters ** Autres implémentations: http://code.google.com/p/roswifibot