I am starting to learn how to program a robot controller on C++. For now, I just want my robot to repetitively travel 1m straight until it runs into an obstacle. When I run my program on Stage, the robot moves 2-3 times, then I receive a `Transform from base_link to odom failed` error message. After that, the robot rotates then go straight 1m for a few times, then rotates, etc. I think a rotation occurs every time the transform fails. Unless this is related to the local planner?
I don't understand how the transform would sometimes work and sometimes not. Here is my code:
#include
#include
#include
#include
#include
#include
#include
using namespace navfn;
typedef actionlib::SimpleActionClient MoveBaseClient;
int main(int argc, char** argv){
ros::init(argc, argv, "compare");
//tell the action client that we want to spin a thread by default
MoveBaseClient client("move_base", true);
//wait for the action server to come up
while(!client.waitForServer(ros::Duration(5.0)) && ros::ok()){
ROS_INFO("Waiting for the move_base action server to come up");
}
move_base_msgs::MoveBaseGoal goal;
//we'll send a goal to the robot to move 1 meter forward
goal.target_pose.header.frame_id = "base_link";
ros::Rate loop_rate(10);
while (ros::ok()) {
goal.target_pose.header.stamp = ros::Time::now();
goal.target_pose.pose.position.x = 1.0;
goal.target_pose.pose.orientation.w = 1.0;
ROS_INFO("Sending goal");
client.sendGoal(goal);
client.waitForResult();
if(client.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
ROS_INFO("Hooray, the base moved 1 meter forward");
else
ROS_INFO("The base failed to move forward 1 meter for some reason");
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
Here is my launch file:
↧