[SOLVED]Orientation_mode issue

Question

Rosanswers logo

Hello,

I'm using ROS-indigo on a VM that run Ubuntu-14.04.5. I want to store on a file the informations of "/move_base/NavfnROS/plan" (in particular I need the position and orientation), to do so I first run this launch file:

<launch>
&lt;!-- Transformations /--&gt;

&lt;node pkg=&quot;tf&quot; type=&quot;static_transform_publisher&quot; name=&quot;static_transform&quot; args=&quot;8.5 21.5 0 1.57079633 0 0 map base_link 100&quot;/&gt;

&lt;!-- static Map /--&gt;    
&lt;node pkg=&quot;map_server&quot; type=&quot;map_server&quot; name=&quot;static_map&quot; args=&quot;/home/rob/catkin_ws/src/map_server/maps/testmap1.yaml&quot; /&gt;

&lt;!-- move_base + costmap parameters /--&gt;

&lt;node pkg=&quot;move_base&quot; type=&quot;move_base&quot; name=&quot;move_base&quot; output=&quot;screen&quot; &gt;
    &lt;rosparam file=&quot;/home/rob/catkin_ws/src/move_base1/move_base_config/costmap_common_params.yaml&quot; command=&quot;load&quot; ns=&quot;global_costmap&quot; /&gt;
    &lt;rosparam file=&quot;/home/rob/catkin_ws/src/move_base1/move_base_config/costmap_common_params.yaml&quot; command=&quot;load&quot; ns=&quot;local_costmap&quot; /&gt;
    &lt;rosparam file=&quot;/home/rob/catkin_ws/src/move_base1/move_base_config/global_costmap_params.yaml&quot; command=&quot;load&quot; /&gt;
    &lt;rosparam file=&quot;/home/rob/catkin_ws/src/move_base1/move_base_config/local_costmap_params.yaml&quot; command=&quot;load&quot; /&gt;
&lt;/node&gt;


</launch>

after that I run rviz and use the "2D Nav Goal" button to set a goal in my static_map and let global_planner to generate a path_plan. I finally use rostopic echo /move_base/NavfnROS/plan >> "filel.txt" in the terminal to store the information that I need.

When I read the stored information in "file.txt" I correctly obtain the positions, but the orientation shows always x:0 y:0 z:0 w:1 though i set the "orientation_mode" parameter equal to 1 (FORWARD) in the "costmap_common_params.yaml".

Could anyone tell me what I'm doing wrong? (And yes, I already build the workspace with catkin_make).

The reference link where i read about the "orientarion filter" http://wiki.ros.org/global_planner

Thank you for your help.

Originally posted by RobertoD on ROS Answers with karma: 16 on 2019-05-07

Post score: 0

score 0 · Accepted Answer · answered May 21 '19 at 13:51

Rosanswers logo

I found the problem: when I was trying to implement the global planner, I missed this:

<node pkg="move_base" type="move_base" name="move_base" output="screen" >
    <param name="base_global_planner" value="global_planner/GlobalPlanner" />
...
</node>

After that, from rqt_gui->dynamic reconfigure, was simple to change the orientation_mode from none to Forward

Originally posted by RobertoD with karma: 16 on 2019-05-21

This answer was ACCEPTED on the original site

Post score: 0

[SOLVED]Orientation_mode issue

1 Answers1