Hello,
I am doing SLAM using HUSKY A200, (ros1 kinetic on both end - robot and remote pc). I am using **hector mapping** for my mapping. I want to do SLAM without saving the map, just by using the 2D Nav goal in the rviz. I am using husky's **move_base** for that purpose. I am using a **pepperl_fuchs_r2000 laser scanner.**
**My ROS master is set to in my remote pc .bashrc as:**
export ROS_MASTER_URI=http://cpr-a200-0468:11311
Network config:
Husky:
ROS_IP: 192.168.131.1
ROS_HOSTNAME:cpr-a200-0468
Remote PC:
ROS_IP:192.168.131.10
HOSTNAME: rosi
**SETUP:**
**All my husky bringup scripts (navsat.launch, um7.launch, base.launch are added as robot_upstart script. Only r2000(laser), hector_mapping, move_base is launched from my remote pc.
I can rostopic echo /tf from my remote pc on husky boot up.**
I had some issues with the tf frames and time mismatch between the system.
TF_OLD_DATA ignoring data from the past for frame base_link
I solved those using other ros posts, also used [chrony](http://wiki.ros.org/ROS/NetworkSetup) for syncing the husky time with my remote pc time. Now I can get the scanned map but when I send the nav goal it does not execute.
I did publish my messages from rviz and tried listening over on husky end:
> rostopic echo /move_base_simple/goal
but no message appears on the husky terminal (sshed over wifi).
Just to make sure I send some cmd_velocity across the system from the terminal:
husky:
rostopic pub /cmd_vel geometry_msgs/Twist "linea::
x: 0.1
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0"
publishing and latching message. Press ctrl-C to terminate
remote pc:
rostopic echo /cmd_vel
But I hear nothing but the robot moves.
Vice versa:
> remote pc: published
>> husky listening: nothing received
>> robot does not move.
The launch file launching the laser, hector_mapping and move_base is as follows:
↧