clobot-co-ltd / clober Goto Github PK

• The private repository clobot_movebase and clobot_local_planner are used to navigate clober.
• As users can't access the private repository, it should be changed to ROS move_base and public local planner to adapt clober to everyone.

I build the whole package in the clober repo.

• But after I launch simulations like logo_world.launch, 3x3_world.launch, the following error message is shown

xacro: in-order processing became default in ROS Melodic. You can drop the option.
No such file or directory: /home/morty/catkin_ws/src/clober/clober_description/urdf/multi_clober.urdf.xacro
RLException: Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '--inorder', '/home/morty/catkin_ws/src/clober/clober_description/urdf/multi_clober.urdf.xacro', 'prefix:=clober_0/']] returned with code [2]. 

Param xml is <param command="$(find xacro)/xacro --inorder $(find clober_description)/urdf/multi_clober.urdf.xacro prefix:=$(arg clober_0)/" name="robot_description"/>
The traceback for the exception was written to the log file

• And I also want to simulate the slam & navigation of clober, I can't find a launch file for that.

I run navigation simulation, and set goal on rviz.

• The robot moves backward to follow the path to a goal that is set behind the robot. I think it's better to turn and move forward than move backward.

• Sometimes the robot doesn't follow the path, just moves backward. In the terminal, the error message is shown as DWA planner failed to produce path..
  

To resolve issue #19, this abnormal motion of the robot should be fixed.