Common Questions

Question

My map is flickering!

Answer

Adjust your transform_tolerance to a proper value other than 0.

Question

My robot is treating its own wheel as obstacle!

Answer:

Please increase the minimum <range> of hokuyo in udacity_bot.gazebo file.

Question

Segmentation fault (core dumped)
[gazebo_gui-3] process has died [pid 84964, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/robond/.ros/log/68f041de-376a-11e8-a54b-000c29dc73d4/gazebo_gui-3.log].
log file: /home/robond/.ros/log/68f041de-376a-11e8-a54b-000c29dc73d4/gazebo_gui-3*.log

Answer:

Please double check your hokuyo model file is present as well as the code you added in the robot model.

Question:

[ INFO] [1522779305.480048775, 0.226000000]: Starting plugin DiffDrive(ns = //)
[ WARN] [1522779305.480353869, 0.226000000]: DiffDrive(ns = //): missing <rosDebugLevel> default is na
[ INFO] [1522779305.485124702, 0.226000000]: DiffDrive(ns = //): <tf_prefix> = 
[ WARN] [1522779305.485423877, 0.226000000]: DiffDrive(ns = //): missing <publishWheelTF> default is false
[ WARN] [1522779305.485524136, 0.226000000]: DiffDrive(ns = //): missing <publishWheelJointState> default is false
[ WARN] [1522779305.485749206, 0.226000000]: DiffDrive(ns = //): missing <wheelAcceleration> default is 0
[ WARN] [1522779305.485846487, 0.226000000]: DiffDrive(ns = //): missing <wheelTorque> default is 5
[ WARN] [1522779305.485996014, 0.226000000]: DiffDrive(ns = //): missing <odometrySource> default is 1
[ WARN] [1522779305.486145335, 0.226000000]: GazeboRosDiffDrive Plugin (ns = ) missing <publishTf>, defaults to 1

Answer:

You could neglect the warnings for now; as the warning themselves state, some parameters are not provided and are replaced with the default values.

Question:

Costmap2DROS transform timeout

Answer:

Make to sure to set a sufficiently high value for transform_tolerance in costmap_common_params.yaml.

Question:

[ WARN] [... , ...]: Control loop missed its desired rate of 20.0000Hz... the loop actually took `X` seconds

Answer:

You could reduce the controller_frequency parameter in base_local_planner_params.yaml.

Question:

[ WARN] [… , …]: Map update loop missed its desired rate of 20.0000Hz… the loop actually took X seconds

Answer:

You could reduce the update_frequency and publish_frequency in global and local costmap_params.yaml.