linorobot2 : when moves in real environment hitting objects which are left /right side which are not in same height of LIDAR plane #123
Comments
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Thank You dear [hippo5329] !. I did the ultrasound sensor data publishes and also got range sensor cone on RVIZ. my navigation.yaml is as under, please guide further: global_costmap: local_costmap: ---regards, Hem |
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Indentation is very important in YAML. Please check your indentation. To show your code here, please fence your code blocks with three backticks (```) or three tildes (~~~) on the lines before and after the code block. |
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mark_threshold: 0.8 , which is the default , probability. |
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local_costmap.plugins: move sonar_layer before inflation_layer |
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hi dear Friends and Sirs. From the above advises I just edited my .yaml file as follows: But the costmap is not forming on rviz with USS (RangeSensorLayer). I need your help to complete my project please..., Thank you. ---regards., Hem. |
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The order of plugins is important. global local |
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Dear sir, Thank you for your response .
I'm getting this warning on terminal continuously.:
[global_costmap.global_costmap]: No range readings received for 33.50
seconds, while expected at least every 1.00 seconds.
~~~
sonar_layer:
plugin: "nav2_costmap_2d::RangeSensorLayer"
enabled: True
topics: ['ultrasound_FL']
no_readings_timeout: 1.0 #
clear_on_max_reading: true
clear_threshold: 0.2
mark_threshold: 0.8
inflate_cone: 1.0
clear_on_max_reading: true
input_sensor_type: ALL
~~~
…On Fri, Jul 5, 2024 at 11:09 PM Thomas Chou ***@***.***> wrote:
The order of plugins is important.
global
plugins: ["static_layer", "obstacle_layer", "voxel_layer", "sonar_layer",
"inflation_layer"]
local
plugins: ["obstacle_layer", "voxel_layer","sonar_layer", "inflation_layer"]
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the sequence is changed, however the message continuously on terminal is : "No range readings received for --- seconds, while expected at least every 1.00 seconds" Further help please . |
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The topic must not be relative. Please revert to "no_readings_timeout: 0.0". And check "ros2 topic hz /ultrasound_FL". |
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Thanks for the tip!
I did : no_readings_timeout: 0.0
every thing is ok, no messages, but no costmap for sonar obstruction.
May I ask you please, your "sonar.launch.py" and sonar.node / package
file /urdf file etc. etc .
Regards, Hem
[global_costmap.global_costmap]: No range readings received for 34.22
seconds, while expected at least every 1.00 seconds
…On Sat, Jul 6, 2024 at 1:36 AM Thomas Chou ***@***.***> wrote:
The topic must not be relative.
topics: ["/ultrasound_FL"]
Please revert to "no_readings_timeout: 0.0".
And check "ros2 topic hz /ultrasound_FL".
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What is the rate of "ros2 topic hz /ultrasound_FL" ? |
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Hi, Dear Thomas sir,
bringup.launch.py:
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0.0', '0.0', '0.0', '0', '0.0', '0.0', 'base_link',
'range_link' , '20' ]
1. range directory which is in "linorobot2_hardware". and firmware.ino in
src/firmware/ : attached here.
2. my ping sensors are on teensy4.1
3. do you suggest to put on jetson ?
4. bringup node is as above.
5. no sonar.urdf file in project
6. No sonar.launch.py in my project.
if you permit I will post my hardware and ws directory.
thank you.
Hem.
…On Sat, Jul 6, 2024 at 12:51 PM Thomas Chou ***@***.***> wrote:
What is the rate of "ros2 topic hz /ultrasound_FL" ?
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Sr, I tried with this also :
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0.0', '0.0', '0.0', '0', '0.0', '0.0', 'base_link',
'range_link']
…On Sat, Jul 6, 2024 at 3:06 PM hemsingh Banoth ***@***.***> wrote:
Hi, Dear Thomas sir,
bringup.launch.py:
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0.0', '0.0', '0.0', '0', '0.0', '0.0',
'base_link', 'range_link' , '20' ]
1. range directory which is in "linorobot2_hardware". and firmware.ino in
src/firmware/ : attached here.
2. my ping sensors are on teensy4.1
3. do you suggest to put on jetson ?
4. bringup node is as above.
5. no sonar.urdf file in project
6. No sonar.launch.py in my project.
if you permit I will post my hardware and ws directory.
thank you.
Hem.
On Sat, Jul 6, 2024 at 12:51 PM Thomas Chou ***@***.***>
wrote:
> What is the rate of "ros2 topic hz /ultrasound_FL" ?
>
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ros2 topic hz /utrasound_FL
Result:
min: 0.020s max: 0.027s std dev: 0.00057s window: 516
average rate: 46.156
min: 0.020s max: 0.027s std dev: 0.00060s window: 563
average rate: 46.164
min: 0.020s max: 0.027s std dev: 0.00059s window: 610
average rate: 46.168
min: 0.020s max: 0.027s std dev: 0.00058s window: 657
average rate: 46.165
min: 0.019s max: 0.027s std dev: 0.00058s window: 704
average rate: 46.153
min: 0.019s max: 0.027s std dev: 0.00058s window: 751
average rate: 46.160
min: 0.019s max: 0.027s std dev: 0.00057s window: 798
…On Sat, Jul 6, 2024 at 3:36 PM hemsingh Banoth ***@***.***> wrote:
Sr, I tried with this also :
Node(
package='tf2_ros',
executable='static_transform_publisher',
output='screen',
arguments=['0.0', '0.0', '0.0', '0', '0.0', '0.0',
'base_link', 'range_link']
On Sat, Jul 6, 2024 at 3:06 PM hemsingh Banoth ***@***.***>
wrote:
> Hi, Dear Thomas sir,
>
>
> bringup.launch.py:
> Node(
> package='tf2_ros',
> executable='static_transform_publisher',
> output='screen',
> arguments=['0.0', '0.0', '0.0', '0', '0.0', '0.0',
> 'base_link', 'range_link' , '20' ]
>
> 1. range directory which is in "linorobot2_hardware". and firmware.ino
> in src/firmware/ : attached here.
> 2. my ping sensors are on teensy4.1
> 3. do you suggest to put on jetson ?
> 4. bringup node is as above.
> 5. no sonar.urdf file in project
> 6. No sonar.launch.py in my project.
>
> if you permit I will post my hardware and ws directory.
>
> thank you.
>
> Hem.
>
>
>
>
>
> On Sat, Jul 6, 2024 at 12:51 PM Thomas Chou ***@***.***>
> wrote:
>
>> What is the rate of "ros2 topic hz /ultrasound_FL" ?
>>
>> —
>> Reply to this email directly, view it on GitHub
>> <#123 (comment)>,
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>> .
>> You are receiving this because you authored the thread.Message ID:
>> ***@***.***>
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>
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It might be a bug. I will look into this later. Thanks. |
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Hi , The bug is located on my .ino file . changed Frame_id : "/range_link" to Frame_id : "range_link" in .ino hardware file, Now the costmap is working. Thank you. |
If anyone made a sonar range sensor with linorobot2 , please share the code to avoid obstacles.
Regars,
Hem.
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