Problem with Navigation - Waiting on transform from base_footprint to map [closed]
I'm following this tutorial:
answers.ros.org/question/41433/multiple-robots-simulation-and-navigation/
I want to simulate 2 turtlebot together. The simulation is ok, but I have a problem with navigation. When I run my launch file I see this:
[ WARN] [1386932948.877571799, 677.970000000]: Waiting on transform from base_footprint to map to become available before running costmap, tf error:
I've read other questions but I can not solve the problem.
This is my multiple_navigation.launch
<launch>
<param name="/use_sim_time" value="true"/>
<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find tesi_gazebo)/maps/playground.yaml" >
<param name="frame_id" value="/map" />
</node>
<group ns="robot1">
<param name="tf_prefix" value="robot1_tf" />
<param name="amcl/initial_pose_x" value="1" />
<param name="amcl/initial_pose_y" value="1" />
<include file="$(find tesi_gazebo)/launch/move_base.launch" />
</group>
<group ns="robot2">
<param name="tf_prefix" value="robot2_tf" />
<param name="amcl/initial_pose_x" value="-1" />
<param name="amcl/initial_pose_y" value="1" />
<include file="$(find tesi_gazebo)/launch/move_base.launch" />
</group>
</launch>
and this is move.base.launch
<launch>
<!--- Run AMCL -->
<include file="$(find turtlebot_navigation)/launch/includes/amcl.launch.xml" />
<!-- Define your move_base node -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find tesi_gazebo)/param/costmap_common_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find tesi_gazebo)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find tesi_gazebo)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find tesi_gazebo)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find tesi_gazebo)/param/base_local_planner_params.yaml" command="load" />
<remap from="map" to="/map" />
</node>
</launch>
This is amcl.launch.xml
<launch>
<arg name="use_map_topic" default="false"/>
<arg name="scan_topic" default="scan"/>
<arg name="initial_pose_x" default="0.0"/>
<arg name="initial_pose_y" default="0.0"/>
<arg name="initial_pose_a" default="0.0"/>
<node pkg="amcl" type="amcl" name="amcl">
<param name="use_map_topic" value="$(arg use_map_topic)"/>
<!-- Publish scans from best pose at a max of 10 Hz -->
<param name="odom_model_type" value="diff"/>
<param name="odom_alpha5" value="0.1"/>
<param name="gui_publish_rate" value="10.0"/>
<param name="laser_max_beams" value="60"/>
<param name="laser_max_range" value="12.0"/>
<param name="min_particles" value="500"/>
<param name="max_particles" value="2000"/>
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="odom_alpha1" value="0.2"/>
<param name="odom_alpha2" value="0.2"/>
<!-- translation std dev, m -->
<param name="odom_alpha3" value="0.2"/>
<param name="odom_alpha4" value="0.2"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_model_type" value="likelihood_field"/>
<!-- <param name="laser_model_type" value="beam"/> -->
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="update_min_d" value="0.25"/>
<param name="update_min_a" value="0.2"/>
<param name="odom_frame_id" value="odom"/>
<param name="base_frame_id" value="base_footprint"/>
<param name="resample_interval" value="1"/>
<!-- Increase tolerance because the computer can get quite busy -->
<param name="transform_tolerance" value="1.0"/>
<param name="recovery_alpha_slow" value="0.0"/>
<param name="recovery_alpha_fast" value="0.0"/>
<param name="initial_pose_x" value="$(arg initial_pose_x)"/>
<param name ...
can you please post the information about your tf tree you get via tf view_frames ?
I see this graph: https://db.tt/TX6LT4ad There isn't a /map node, but I don't know why!
Since AMCL should publish the TF transformation between Map and odom, i am pretty sure that the error is somewhere in your amcl configuration. Have you checked that you use the right frame names in amcl ? You simulate two robots, but in the graph i just see the tree from one robot ?
Yes, in the graph I see only one robot. This is another problem! I follow this tutorial (answers.ros.org/question/41433/multiple-robots-simulation-and-navigation/), but I never noticed the problem.
Ok, where do you spawn the robots ? I do not see the "spawn_model" form gazebo. And please poste the file where you launch gazebo
You can see my launch file for the simulation here (http://answers.ros.org/question/111256/problem-with-multiple-turtlebot-simulation/). Yesterday I posted another question for the problem of tf tree.