What my errors are
The base_scan observation buffer has not been updated for 1056.13 seconds, and it should be updated every 0.40 seconds.
Costmap2DROS transform timeout. Current time: 1310714584.1730, global_pose stamp: 1310714583.0928, tolerance: 0.3000
What am I missing? I have checked rxgraph to make sure all connections are set.
My launch file is
<launch>
<!-- Navigation Core -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
<remap from="map" to="/map" />
<param name="controller_frequency" value="10.0" />
<rosparam file="$(find nav_core)/conf/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find nav_core)/conf/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find nav_core)/conf/local_costmap_params.yaml" command="load" />
<rosparam file="$(find nav_core)/conf/global_costmap_params.yaml" command="load" />
<rosparam file="$(find nav_core)/conf/base_local_planner_params.yaml" command="load" />
</node>
<node pkg="robot_setup_tf" type="tf_broadcaster" name="transform_configuration_name" output="screen">
<param name="transform_configuration_param" value="param_value" />
</node>
<node pkg="robot_setup_odometry" type="odometry" name="odom_node" output="screen">
<param name="odom_param" value="param_value" />
</node>
<node pkg="robot_setup_laser" type="laser" name="sensor_node_name" output="screen">
<param name="sensor_param" value="param_value" />
</node>
</launch>
view_frames Result
/odom->/base_link->/map
/base_link->/base_laser
costmap_common_params.yaml
#This file contains common configuration options for the two costmaps used in the navigation stack for more details on the parameters in this file, and a full list of the parameters used by the costmaps, please see http://www.ros.org/wiki/costmap_2d
#For this example we'll configure the costmap in voxel-grid mode
map_type: voxel
#Voxel grid specific parameters
origin_z: 0.0
z_resolution: 0.2
z_voxels: 10
unknown_threshold: 9
mark_threshold: 0
#Set the tolerance we're willing to have for tf transforms
transform_tolerance: 0.3
#Obstacle marking parameters
obstacle_range: 2.5
max_obstacle_height: 2.0
raytrace_range: 3.0
#The footprint of the robot and associated padding
footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]]
footprint_padding: 0.01
#Cost function parameters
inflation_radius: 0.55
cost_scaling_factor: 10.0
#The cost at which a cell is considered an obstacle when a map is read from the map_server
lethal_cost_threshold: 100
#Configuration for the sensors that the costmap will use to update a map
observation_sources: base_scan
base_scan: {data_type: LaserScan, expected_update_rate: 0.4,
observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}
Thank you~ I solved it. In my global_costmap_params.yaml I set the static_map to false, because I misunderstanding that parameter. Before I think static_map means the map is static not generate by gmapping dynamically. So I choose static_map parameter to be false,because I want to do a online slam. When I change static_map to true,that two warning message disappeared!
It looks like your laser scan is not updated at the expected update rate you set. This may be because you forgot to set the topic name for the base_scan observation source.
See the costmap_2d parameters for details. Make sure you fill in the "topic" parameter for the base_scan observation source.
Asked: 2011-07-15 00:28:44 -0500
Seen: 884 times
Last updated: Jul 17 '11
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