Tiago: Navigation

Pre-requirements

1. Make sure ROS_IP of development machine is set correctly
2. Navigation module is not paused.

# on development machine
rosservice call /pal_navigation_sm "input: 'LOC'"
rosrun rviz rviz -d `rospack find tiago_dual_2dnav` /config/rviz/navigation.rviz

Problems

Navigation is paused!

This warning keep shows in Diagnose page even there’s no charger or docker connected to the robot. After asking PAL company, they give an alternative method to handle this:

# on tiago machine
rosparam set /docking/was_docked False
rostopic pub /pause_navigation std_msgs/Bool "data: false"

Check the diagnostics tb and when the navigation turns green press Control C.

Then modify:

sudo vim ~/.pal/was_docked.yaml

and change the value from True to False.