Hi all,
after following this tutorial http://www.ros.org/wiki/navigation/Tutorials/RobotSetup#Global_Configuration and run rviz when I try to give a 2d nav goal in the map the shell output this error:
> The robot's start position is off the> global costmap. Planning will always> fail, are you sure the robot has been> properly localized?
someone have any idea what I'm doing wrong?
thanks for your attention
EDIT 1: thanks @ayush_dewan for your answer, I checked my tf tree typing
> rosrun rqt_tf_tree rqt_tf_tree
and the rqt_graph
I see that the map server is not connected with the main tree but it is in the tf tree.
I don't understand if is a map trouble (type of the map, resolution,...) or a tf issue.
Edit 2: Tryed the tf_echo command with the following output:
rosrun tf tf_echo /map /base_link
At time 1374093690.903
- Translation: [-0.002, 0.006, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.003, 1.000]
in RPY [0.000, -0.000, 0.005]
rosrun tf tf_echo /map /odom
At time 1374093829.437
- Translation: [-0.224, 0.066, 0.000]
rosrun tf tf_echo /odom /base_link
At time 1374093875.303
- Translation: [0.224, -0.051, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.022, 1.000]
in RPY [0.000, -0.000, 0.045]
- Rotation: in Quaternion [0.000, 0.000, -0.020, 1.000]
in RPY [0.000, 0.000, -0.039]
it seems to me that all is going well, or better no error is coming out.
Could you please specify a little more where the issue could be?
Thanks
EDIT 3:thanks @ahendrix, this is my map.yalm code
image: map01.png
resolution: 0.02
origin: [-5.0, -5.0, 0.0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
and this the Rviz output
I hope this could be helpful.
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