Ceci est une ancienne révision du document !
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 tutorial * rosbag API+python: rosbag API, in python API# to run in a python terminaland the “plot” plugin.
import rosbag
from std_msgs.msg import Int32, String
bag = rosbag.Bag('test.bag', 'r') '' </WRAP> * rqt_bag: ''rqt_bag- 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 **# 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