Linux/IWR1443BOOST: autonavigation issue

hi
now my robot performing rotation after giving 2d nav goal. but it is not coming our of rotation. then i switched on manually. log is

sharana@sharana-desktop:~/projectmmwave_ws$ source devel/setup.bash sharana@sharana-desktop:~/projectmmwave_ws$ roslaunch chefbot_bringup amcl_demo.launch
... logging to /home/sharana/.ros/log/f0950e56-5769-11e9-a2c1-a0afbd8056ba/roslaunch-sharana-desktop-4394.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://sharana-desktop:36083/

SUMMARY
========

PARAMETERS
* /amcl/base_frame_id: base_footprint
* /amcl/gui_publish_rate: 10.0
* /amcl/initial_pose_a: 0.0
* /amcl/initial_pose_x: 0.0
* /amcl/initial_pose_y: 0.0
* /amcl/kld_err: 0.05
* /amcl/kld_z: 0.99
* /amcl/laser_lambda_short: 0.1
* /amcl/laser_likelihood_max_dist: 2.0
* /amcl/laser_max_beams: 60
* /amcl/laser_max_range: 12.0
* /amcl/laser_model_type: likelihood_field
* /amcl/laser_sigma_hit: 0.2
* /amcl/laser_z_hit: 0.5
* /amcl/laser_z_max: 0.05
* /amcl/laser_z_rand: 0.5
* /amcl/laser_z_short: 0.05
* /amcl/max_particles: 2000
* /amcl/min_particles: 500
* /amcl/odom_alpha1: 0.2
* /amcl/odom_alpha2: 0.2
* /amcl/odom_alpha3: 0.2
* /amcl/odom_alpha4: 0.2
* /amcl/odom_alpha5: 0.1
* /amcl/odom_frame_id: odom
* /amcl/odom_model_type: diff
* /amcl/recovery_alpha_fast: 0.0
* /amcl/recovery_alpha_slow: 0.0
* /amcl/resample_interval: 1
* /amcl/transform_tolerance: 1.0
* /amcl/update_min_a: 0.2
* /amcl/update_min_d: 0.25
* /amcl/use_map_topic: False
* /cmd_vel_mux/yaml_cfg_file: /home/sharana/pro...
* /move_base/DWAPlannerROS/acc_lim_theta: 2.0
* /move_base/DWAPlannerROS/acc_lim_x: 1.0
* /move_base/DWAPlannerROS/acc_lim_y: 0.0
* /move_base/DWAPlannerROS/forward_point_distance: 0.325
* /move_base/DWAPlannerROS/global_frame_id: odom
* /move_base/DWAPlannerROS/goal_distance_bias: 24.0
* /move_base/DWAPlannerROS/max_rot_vel: 5.0
* /move_base/DWAPlannerROS/max_scaling_factor: 0.2
* /move_base/DWAPlannerROS/max_trans_vel: 0.5
* /move_base/DWAPlannerROS/max_vel_x: 0.5
* /move_base/DWAPlannerROS/max_vel_y: 0.0
* /move_base/DWAPlannerROS/min_rot_vel: 0.4
* /move_base/DWAPlannerROS/min_trans_vel: 0.1
* /move_base/DWAPlannerROS/min_vel_x: 0.0
* /move_base/DWAPlannerROS/min_vel_y: 0.0
* /move_base/DWAPlannerROS/occdist_scale: 0.5
* /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
* /move_base/DWAPlannerROS/path_distance_bias: 64.0
* /move_base/DWAPlannerROS/publish_cost_grid_pc: True
* /move_base/DWAPlannerROS/publish_traj_pc: True
* /move_base/DWAPlannerROS/rot_stopped_vel: 0.4
* /move_base/DWAPlannerROS/scaling_speed: 0.25
* /move_base/DWAPlannerROS/sim_time: 1.0
* /move_base/DWAPlannerROS/stop_time_buffer: 0.2
* /move_base/DWAPlannerROS/trans_stopped_vel: 0.1
* /move_base/DWAPlannerROS/vtheta_samples: 20
* /move_base/DWAPlannerROS/vx_samples: 6
* /move_base/DWAPlannerROS/vy_samples: 1
* /move_base/DWAPlannerROS/xy_goal_tolerance: 0.15
* /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.3
* /move_base/TrajectoryPlannerROS/acc_lim_theta: 1.0
* /move_base/TrajectoryPlannerROS/acc_lim_x: 0.5
* /move_base/TrajectoryPlannerROS/acc_lim_y: 0.0
* /move_base/TrajectoryPlannerROS/dwa: True
* /move_base/TrajectoryPlannerROS/gdist_scale: 0.8
* /move_base/TrajectoryPlannerROS/heading_lookahead: 0.325
* /move_base/TrajectoryPlannerROS/holonomic_robot: False
* /move_base/TrajectoryPlannerROS/max_vel_theta: 1.0
* /move_base/TrajectoryPlannerROS/max_vel_x: 0.3
* /move_base/TrajectoryPlannerROS/max_vel_y: 0.0
* /move_base/TrajectoryPlannerROS/meter_scoring: True
* /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.6
* /move_base/TrajectoryPlannerROS/min_vel_theta: -1.0
* /move_base/TrajectoryPlannerROS/min_vel_x: 0.1
* /move_base/TrajectoryPlannerROS/min_vel_y: 0.0
* /move_base/TrajectoryPlannerROS/occdist_scale: 0.01
* /move_base/TrajectoryPlannerROS/oscillation_reset_dist: 0.05
* /move_base/TrajectoryPlannerROS/pdist_scale: 0.6
* /move_base/TrajectoryPlannerROS/sim_time: 3.0
* /move_base/TrajectoryPlannerROS/vtheta_samples: 20
* /move_base/TrajectoryPlannerROS/vx_samples: 6
* /move_base/TrajectoryPlannerROS/vy_samples: 1
* /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.15
* /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.3
* /move_base/base_local_planner: dwa_local_planner...
* /move_base/controller_frequency: 5.0
* /move_base/controller_patience: 3.0
* /move_base/global_costmap/bump/clearing: False
* /move_base/global_costmap/bump/data_type: PointCloud2
* /move_base/global_costmap/bump/marking: True
* /move_base/global_costmap/bump/max_obstacle_height: 0.15
* /move_base/global_costmap/bump/min_obstacle_height: 0.0
* /move_base/global_costmap/bump/topic: mobile_base/senso...
* /move_base/global_costmap/cost_scaling_factor: 5
* /move_base/global_costmap/global_frame: /map
* /move_base/global_costmap/inflation_radius: 0.5
* /move_base/global_costmap/map_type: voxel
* /move_base/global_costmap/max_obstacle_height: 0.6
* /move_base/global_costmap/observation_sources: scan bump
* /move_base/global_costmap/obstacle_range: 2.5
* /move_base/global_costmap/origin_z: 0.0
* /move_base/global_costmap/publish_frequency: 0.5
* /move_base/global_costmap/publish_voxel_map: False
* /move_base/global_costmap/raytrace_range: 3.0
* /move_base/global_costmap/robot_base_frame: /base_footprint
* /move_base/global_costmap/robot_radius: 0.2
* /move_base/global_costmap/scan/clearing: True
* /move_base/global_costmap/scan/data_type: LaserScan
* /move_base/global_costmap/scan/marking: True
* /move_base/global_costmap/scan/max_obstacle_height: 3
* /move_base/global_costmap/scan/min_obstacle_height: 0.0
* /move_base/global_costmap/scan/topic: scan
* /move_base/global_costmap/static_map: True
* /move_base/global_costmap/transform_tolerance: 0.5
* /move_base/global_costmap/update_frequency: 1.0
* /move_base/global_costmap/z_resolution: 0.2
* /move_base/global_costmap/z_voxels: 2
* /move_base/local_costmap/bump/clearing: False
* /move_base/local_costmap/bump/data_type: PointCloud2
* /move_base/local_costmap/bump/marking: True
* /move_base/local_costmap/bump/max_obstacle_height: 0.15
* /move_base/local_costmap/bump/min_obstacle_height: 0.0
* /move_base/local_costmap/bump/topic: mobile_base/senso...
* /move_base/local_costmap/cost_scaling_factor: 5
* /move_base/local_costmap/global_frame: odom
* /move_base/local_costmap/height: 4.0
* /move_base/local_costmap/inflation_radius: 0.5
* /move_base/local_costmap/map_type: voxel
* /move_base/local_costmap/max_obstacle_height: 0.6
* /move_base/local_costmap/observation_sources: scan bump
* /move_base/local_costmap/obstacle_range: 2.5
* /move_base/local_costmap/origin_z: 0.0
* /move_base/local_costmap/publish_frequency: 2.0
* /move_base/local_costmap/publish_voxel_map: False
* /move_base/local_costmap/raytrace_range: 3.0
* /move_base/local_costmap/resolution: 0.05
* /move_base/local_costmap/robot_base_frame: /base_footprint
* /move_base/local_costmap/robot_radius: 0.2
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/scan/clearing: True
* /move_base/local_costmap/scan/data_type: LaserScan
* /move_base/local_costmap/scan/marking: True
* /move_base/local_costmap/scan/max_obstacle_height: 3
* /move_base/local_costmap/scan/min_obstacle_height: 0.0
* /move_base/local_costmap/scan/topic: scan
* /move_base/local_costmap/static_map: False
* /move_base/local_costmap/transform_tolerance: 0.5
* /move_base/local_costmap/update_frequency: 5.0
* /move_base/local_costmap/width: 4.0
* /move_base/local_costmap/z_resolution: 0.2
* /move_base/local_costmap/z_voxels: 2
* /move_base/oscillation_distance: 0.2
* /move_base/oscillation_timeout: 10.0
* /move_base/planner_frequency: 1.0
* /move_base/planner_patience: 5.0
* /move_base/shutdown_costmaps: False
* /rosdistro: kinetic
* /rosversion: 1.12.14

NODES
/
amcl (amcl/amcl)
cmd_vel_mux (nodelet/nodelet)
mobile_base_nodelet_manager (nodelet/nodelet)
move_base (move_base/move_base)

ROS_MASTER_URI=http://localhost:11311

running rosparam delete /move_base/
ERROR: parameter [/move_base] is not set
process[amcl-1]: started with pid [4416]
process[mobile_base_nodelet_manager-2]: started with pid [4417]
process[move_base-3]: started with pid [4418]
process[cmd_vel_mux-4]: started with pid [4420]
[FATAL] [1554444875.938543311]: Failed to load nodelet '/cmd_vel_mux` of type `yocs_cmd_vel_mux/CmdVelMuxNodelet` to manager `mobile_base_nodelet_manager'
[ERROR] [1554444876.047904509]: Failed to find nodelet with name '/cmd_vel_mux' to unload.
[cmd_vel_mux-4] process has died [pid 4420, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager cmd_vel_mux/output:=/cmd_vel_mux/input/navi __name:=cmd_vel_mux __log:=/home/sharana/.ros/log/f0950e56-5769-11e9-a2c1-a0afbd8056ba/cmd_vel_mux-4.log].
log file: /home/sharana/.ros/log/f0950e56-5769-11e9-a2c1-a0afbd8056ba/cmd_vel_mux-4*.log
[ INFO] [1554444876.394982799]: Loading from pre-hydro parameter style
[ INFO] [1554444876.443750047]: Using plugin "static_layer"
[ INFO] [1554444876.462492848]: Requesting the map...
[ INFO] [1554444876.666574112]: Resizing costmap to 176 X 154 at 0.050000 m/pix
[ INFO] [1554444876.766373634]: Received a 176 X 154 map at 0.050000 m/pix
[ INFO] [1554444876.780695965]: Using plugin "obstacle_layer"
[ INFO] [1554444876.784958004]: Subscribed to Topics: scan bump
[ INFO] [1554444876.849788127]: Using plugin "inflation_layer"
[ INFO] [1554444876.921472867]: Loading from pre-hydro parameter style
[ INFO] [1554444876.963210523]: Using plugin "obstacle_layer"
[ INFO] [1554444876.965690605]: Subscribed to Topics: scan bump
[ INFO] [1554444877.023416865]: Using plugin "inflation_layer"
[ INFO] [1554444877.091158741]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1554444877.095772719]: Sim period is set to 0.20
[ INFO] [1554444878.095301699]: Recovery behavior will clear layer obstacles
[ INFO] [1554444878.112119255]: Recovery behavior will clear layer obstacles
[ INFO] [1554444878.170233081]: odom received!
[ WARN] [1554445026.148321590]: Clearing costmap to unstuck robot (3.000000m).
[ WARN] [1554445031.348464857]: Clearing costmap to unstuck robot (3.000000m).
[ WARN] [1554445036.548521684]: mmWave customized rotate recovery behavior started.
[ WARN] [1554445036.548642033]: Clearing costmaps...
[ WARN] [1554445036.605818301]: Performing rotation...
^C[move_base-3] killing on exit
[mobile_base_nodelet_manager-2] killing on exit
[amcl-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Hi,

Are you seeing point clouds on the display, is it detecting the object correctly?
Please load ROS question on the ROS forum.

Regards,
Charles O

Hi

I assume this was resolved. I will be closing this thread due to inactivity.

Regards,
Charles O