I am trying to run the navigation stack with a map built with gmapping. I followed the navigation stack tutorial (the RobotSetup one). The ROS version is Groovy.

Then, after I run the navigation launch file (as indicated in the tutorial), the terminal repeatedly reports an error:

[ERROR] [1385493617.133940604]: Extrapolation Error: Unable to lookup transform, cache is empty, when looking up transform from frame [/odom] to frame [/map]

[ERROR] [1385493616.634300392]: Global Frame: /odom Plan Frame size 130: /map

[ WARN] [1385493616.634367789]: Could not transform the global plan to the frame of the controller

This is the entire output when the launch file is run:

bernardo@bernardo-Satellite-U400:~$ roslaunch robot socrob_nav.launch

... logging to /home/bernardo/.ros/log/38199960-56c9-11e3-abee-0022fa36e240/roslaunch- bernardo-Satellite-U400-7044.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.

WARNING: ignoring defunct tag

started roslaunch server

SUMMARY

========

PARAMETERS

• /amcl/guipublishrate

• /amcl/kld_err

• /amcl/kld_z

• /amcl/laserlambdashort

• /amcl/laserlikelihoodmax_dist

• /amcl/lasermaxbeams

• /amcl/lasermodeltype

• /amcl/lasersigmahit

• /amcl/laserzhit

• /amcl/laserzmax

• /amcl/laserzrand

• /amcl/laserzshort

• /amcl/max_particles

• /amcl/min_particles

• /amcl/odom_alpha1

• /amcl/odom_alpha2

• /amcl/odom_alpha3

• /amcl/odom_alpha4

• /amcl/odom_alpha5

• /amcl/odomframeid

• /amcl/odommodeltype

• /amcl/recoveryalphafast

• /amcl/recoveryalphaslow

• /amcl/resample_interval

• /amcl/transform_tolerance

• /amcl/updatemina

• /amcl/updatemind

* /movebase/TrajectoryPlannerROS/acclim_th

* /movebase/TrajectoryPlannerROS/acclim_x

* /movebase/TrajectoryPlannerROS/acclim_y

* /movebase/TrajectoryPlannerROS/holonomicrobot

* /movebase/TrajectoryPlannerROS/maxrotational_vel

* /movebase/TrajectoryPlannerROS/maxvel_x

* /movebase/TrajectoryPlannerROS/mininplacerotational_vel

* /movebase/TrajectoryPlannerROS/minvel_x

* /movebase/globalcostmap/global_frame

* /movebase/globalcostmap/inflation_radius

* /movebase/globalcostmap/observation_sources

* /movebase/globalcostmap/obstacle_range

* /movebase/globalcostmap/raytrace_range

* /movebase/globalcostmap/robotbaseframe

* /movebase/globalcostmap/robot_radius

* /movebase/globalcostmap/scan/clearing

* /movebase/globalcostmap/scan/data_type

* /movebase/globalcostmap/scan/marking

* /movebase/globalcostmap/scan/sensor_frame

* /movebase/globalcostmap/scan/topic

* /movebase/globalcostmap/static_map

* /movebase/globalcostmap/update_frequency

* /movebase/localcostmap/global_frame

• /movebase/localcostmap/height

* /movebase/localcostmap/inflation_radius

* /movebase/localcostmap/observation_sources

* /movebase/localcostmap/obstacle_range

* /movebase/localcostmap/publish_frequency

* /movebase/localcostmap/raytrace_range

• /movebase/localcostmap/resolution

* /movebase/localcostmap/robotbaseframe

* /movebase/localcostmap/robot_radius

* /movebase/localcostmap/rolling_window

* /movebase/localcostmap/scan/clearing

* /movebase/localcostmap/scan/data_type

* /movebase/localcostmap/scan/marking

* /movebase/localcostmap/scan/sensor_frame

• /movebase/localcostmap/scan/topic

• /movebase/localcostmap/static_map

* /movebase/localcostmap/update_frequency

• /movebase/localcostmap/width

• /rosdistro

• /rosversion

NODES

amcl amcl/amcl

map_server map_server/map_server

move_base move_base/move_base

ROSMASTERURI=localhost:11311

core service [/rosout] found

process[map_server-1]: started with pid [7062]

process[amcl-2]: started with pid [7073]

process[move_base-3]: started with pid [7131]

[ INFO] [1385493581.630936693]: Subscribed to Topics: scan

[ INFO] [1385493581.655936869]: Requesting the map...

[ INFO] [1385493581.659333183]: Still waiting on map...

[ INFO] [1385493582.773607633]: Still waiting on map...

[ WARN] [1385493583.671941771]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server

[ INFO] [1385493583.672129574]: Received a 4000 X 4000 map at 0.050000 m/pix

[ INFO] [1385493591.795893428]: MAP SIZE: 4000, 4000

[ INFO] [1385493591.801992736]: Subscribed to Topics: scan

[ INFO] [1385493592.044804060]: Sim period is set to 0.05

[ WARN] [1385493592.055956104]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.

[ WARN] [1385493592.785003494]: Message from [/hokuyonode] has a non-fully-qualified frameid [laser]. Resolved locally to [/laser]. This is will likely not work in multi-robot systems. This message will only print once.

[ WARN] [1385493592.791668239]: Message from [/hokuyonode] has a non-fully-qualified frameid [laser]. Resolved locally to [/laser]. This is will likely not work in multi-robot systems. This message will only print once.

[ERROR] [1385493616.634203033]: Extrapolation Error: Unable to lookup transform, cache is empty, when looking up transform from frame [/odom] to frame [/map]

[ERROR] [1385493616.634300392]: Global Frame: /odom Plan Frame size 130: /map

[ WARN] [1385493616.634367789]: Could not transform the global plan to the frame of the controller

[ERROR] [1385493617.133940604]: Extrapolation Error: Unable to lookup transform, cache is empty, when looking up transform from frame [/odom] to frame [/map]

[ERROR] [1385493617.134021550]: Global Frame: /odom Plan Frame size 130: /map

[ WARN] [1385493617.134076236]: Could not transform the global plan to the frame of the controller

The robot tries to move in short moves, as if everytime the error is displayed the robot stops.

I tried running on Hydro (also following the navigation stack tutorial exactly) and a different error shows up, but probably related to the same problem. The extrapolation error, instead of reporting "cache is empty", says it would need to extrapolate into the future.

Has anyone run into this problem before? Again, I'm not doing anything different from what is shown in the navigation stack tutorial.