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I got it. Sometime should one sleep before trying to find impossible theories. Anyway, here the explanation.

A robot driver publishes odom informations on a basis of the actual position and velocities, in order to use the navigation stack. I was maybe too tired and didn't realize that I wrongly put in my odom message the same position information in the velocity field.

Instead of writing correctly the following line of code:

//set the position
odom.pose.pose.position.x = x;
odom.pose.pose.position.y = y;
odom.pose.pose.position.z = 0.0;
odom.pose.pose.orientation = odom_quat;

//set the velocity
odom.child_frame_id = "base_link";
odom.twist.twist.linear.x = vx;
odom.twist.twist.linear.y = vy;
odom.twist.twist.angular.z = vth;

I put stupidly:

//set the position
odom.pose.pose.position.x = x;
odom.pose.pose.position.y = y;
odom.pose.pose.position.z = 0.0;
odom.pose.pose.orientation = odom_quat;

//set the velocity
odom.child_frame_id = "base_link";
odom.twist.twist.linear.x = x;            <= Velocity HERE
odom.twist.twist.linear.y = y;            <= Velocity HERE
odom.twist.twist.angular.z = 0.0;         <=  Angular Velocity HERE

So... WHAT HAPPENED?!?!?

It happened that the controller moved the robot in the right position, same frame, always correctly, BUT the published velocities couldn't never get zero!!!. So move_base couldn't trigger the server since it thought that the position must be continuously adjusted.

Writing the right speed variables in the odom field, corrected the error.

Now the server triggers!

Many thanks to all the people who helped me for their suggestions. Regards