cannot store position values to make robot work autonomously and getting error with get path when i launch the file

[Haneesh07]

i am using irobot and was working on SLAM using gmapping, can someone help me how to save the waypoints in map so that my robot move autonomously by reading file which has stored positions in map. my map is the willow garage given in gazebo.
i am using these commands:
roscore
roslaunch gazebo_ros empty_world.launch
rosrun gazebo_ros spawn_model -file /home/h/catkin_ws/src/create/model-1_4.sdf -sdf -model create
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
rosrun tf static_transform_publisher args=0 0 0 0 0 0 /base_footprint /base_link 100
rosrun tf static_transform_publisher args=0 0 0 0 0 0 /base_link /base_laser 100
rviz
roslaunch gmapping slam_gmapping_myrob.launch
rosrun follow_waypoints follow_waypoints

[danielsnider]

The last line in your terminal shows that it follow_waypoints is trying to connect to move_base but it hasn't completed. Is move_base running? Is move_base using the name "move_base" for it's action server? How to list action servers: https://answers.ros.org/question/222748/list-action-servers/ Daniel Snider ツ

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On Thu, Sep 21, 2017 at 5:16 AM, haneesh ***@***.***> wrote: i am using irobot and was working on SLAM using gmapping, can someone help me how to save the waypoints in map so that my robot move autonomously by reading file which has stored positions in map. my map is the willow garage given in gazebo. i am using these commands: roscore roslaunch gazebo_ros empty_world.launch rosrun gazebo_ros spawn_model -file /home/h/catkin_ws/src/create/model-1_4.sdf -sdf -model create rosrun teleop_twist_keyboard teleop_twist_keyboard.py rosrun tf static_transform_publisher args=0 0 0 0 0 0 /base_footprint /base_link 100 rosrun tf static_transform_publisher args=0 0 0 0 0 0 /base_link /base_laser 100 rviz roslaunch gmapping slam_gmapping_myrob.launch rosrun follow_waypoints follow_waypoints [image: errorwithwaypoint-getpath] <https://user-images.githubusercontent.com/30610865/30688367-0d96948c-9f12-11e7-9650-2fb6899d7212.png> — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#1>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ABqDWIK-0GXS7sjoCL7MK0tq4TQw5hl5ks5skilWgaJpZM4PfBxo> .

[SeaFu]

how can I give the goal coordinate on this code

[danielsnider]

@SeaFu Here's how to set goals. This is taken from the documentation.

http://wiki.ros.org/follow_waypoints#Usage

To set waypoints you can either publish a ROS PoseWithCovarianceStamped message to the /initialpose topic directly or use RViz’s tool "2D Pose Estimate" to click anywhere. To visualize the waypoints as pink arrows in RViz, configure RViz to display the topic /current_waypoints which is published by follow_waypoints and must be subscribed to in Rviz as a PoseAarray type.

To initiate waypoint following send a "path ready" message.

$ rostopic pub /path_ready std_msgs/Empty -1

To clear the waypoint queue send a "path reset" message.

$ rostopic pub /path_reset std_msgs/Empty -1

[SeaFu]

@danielsnider Sorry,I'm not very clear, I want to give a sure x , y , and yaw.For example : I want to make my robot go to (x=3.1 , y=2.5) and yaw=1.57 ,where can I set this information

[danielsnider]

@SeaFu Ok, this is close to what you want. Sorry I haven't tested it. You might need to fix this:

rostopic pub /initialpose geometry_msgs/PoseWithCovarianceStamped ’{
header : { frame_id : "/map " } , pose: { pose : { position : { x :
43.658 , y : -79.379 , z : 1.57} } } }’ -1

This will set a waypoint. You can set multiple.

To start going to these waypoints you need to run

$ rostopic pub /path_ready std_msgs/Empty -1

If you only care about going to one goal at a time, you don't need this package and can just use the move_base package and publish to /move_base_simple/goal. Either way you need to have move_base setup and running for follow_waypoints to work.

[101Priyansh]

Hey, I tried the mentioned solution but for me after i publish a pose on initialpose and give the command for startjourney, but the robot doesn't move.
Can you please tell what am i missing?