Turtlebot navigation tf error

asked Nov 19 '11

JediHamster
623 ● 2 ● 21 ● 44
http://sluggish.homelinux...

updated Nov 20 '11

When running the Turtlebot navigation demo I often get the following error:

Waiting on transform from /base_link to /map to become available before running costmap, tf error

Which occurs repeatedly until I quit. On about 20% of attempts the navigation starts normally. Any ideas on what might be causing this? One thing which I'm doing differently is using a map with resolution of 0.02, so perhaps it could be something related to the map being larger than expected.

tf_monitor output when the problem occurs is as follows:

RESULTS: for all Frames

Frames:
Frame: /base_footprint published by /robot_pose_ekf Average Delay: 0.0555048 Max Delay: 0.0800429
Frame: /base_link published by /robot_state_publisher Average Delay: -0.484329 Max Delay: 0
Frame: /front_wheel_link published by /robot_state_publisher Average Delay: -0.484305 Max Delay: 0
Frame: /gyro_link published by /robot_state_publisher Average Delay: -0.484302 Max Delay: 0
Frame: /kinect_depth_frame published by /robot_state_publisher Average Delay: -0.4843 Max Delay: 0
Frame: /kinect_depth_optical_frame published by /robot_state_publisher Average Delay: -0.484297 Max Delay: 0
Frame: /kinect_link published by /robot_state_publisher Average Delay: -0.484324 Max Delay: 0
Frame: /kinect_rgb_frame published by /robot_state_publisher Average Delay: -0.484294 Max Delay: 0
Frame: /kinect_rgb_optical_frame published by /robot_state_publisher Average Delay: -0.484291 Max Delay: 0
Frame: /laser published by /robot_state_publisher Average Delay: -0.484289 Max Delay: 0
Frame: /left_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.484321 Max Delay: 0
Frame: /left_wheel_link published by /robot_state_publisher Average Delay: -0.950178 Max Delay: 0
Frame: /leftfront_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.484319 Max Delay: 0
Frame: /plate_0_link published by /robot_state_publisher Average Delay: -0.484286 Max Delay: 0
Frame: /plate_1_link published by /robot_state_publisher Average Delay: -0.484284 Max Delay: 0
Frame: /plate_2_link published by /robot_state_publisher Average Delay: -0.484282 Max Delay: 0
Frame: /plate_3_link published by /robot_state_publisher Average Delay: -0.484279 Max Delay: 0
Frame: /rear_wheel_link published by /robot_state_publisher Average Delay: -0.484277 Max Delay: 0
Frame: /right_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.484313 Max Delay: 0
Frame: /right_wheel_link published by /robot_state_publisher Average Delay: -0.950172 Max Delay: 0
Frame: /rightfront_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.48431 Max Delay: 0
Frame: /spacer_0_link published by /robot_state_publisher Average Delay: -0.484274 Max Delay: 0
Frame: /spacer_1_link published by /robot_state_publisher Average Delay: -0.484272 Max Delay: 0
Frame: /spacer_2_link published by /robot_state_publisher Average Delay: -0.484269 Max Delay: 0
Frame: /spacer_3_link published by /robot_state_publisher Average Delay: -0.484267 Max Delay: 0
Frame: /standoff_2in_0_link published by /robot_state_publisher Average Delay: -0.484265 Max Delay: 0
Frame: /standoff_2in_1_link published by /robot_state_publisher Average Delay: -0.484262 Max Delay: 0
Frame: /standoff_2in_2_link published by /robot_state_publisher Average Delay: -0.484259 Max Delay: 0
Frame: /standoff_2in_3_link published by /robot_state_publisher Average Delay: -0.484256 Max Delay: 0
Frame: /standoff_2in_4_link published by /robot_state_publisher Average Delay: -0.484254 Max Delay: 0
Frame: /standoff_2in_5_link published by /robot_state_publisher Average Delay: -0.484251 Max Delay: 0
Frame: /standoff_2in_6_link published by /robot_state_publisher Average Delay: -0.484247 Max Delay: 0
Frame: /standoff_2in_7_link published by /robot_state_publisher Average Delay: -0.484243 Max Delay: 0
Frame: /standoff_8in_0_link published by /robot_state_publisher Average Delay: -0.48424 Max Delay: 0
Frame: /standoff_8in_1_link published by /robot_state_publisher Average Delay: -0.484237 Max Delay: 0
Frame: /standoff_8in_2_link published by /robot_state_publisher Average Delay: -0.484234 Max Delay: 0
Frame: /standoff_8in_3_link published by /robot_state_publisher Average Delay: -0.484231 Max Delay: 0
Frame: /standoff_kinect_0_link published by /robot_state_publisher Average Delay: -0.484228 Max Delay: 0
Frame: /standoff_kinect_1_link published by /robot_state_publisher Average Delay: -0.484225 Max Delay: 0
Frame: /wall_sensor_link published by /robot_state_publisher Average Delay: -0.484307 Max Delay: 0

All Broadcasters:
Node: /robot_pose_ekf 10.051 Hz, Average Delay: 0.0555048 Max Delay: 0.0800429
Node: /robot_state_publisher 31.0555 Hz, Average Delay: -0.499502 Max Delay: 0

And when navigation starts normally:

RESULTS: for all Frames

Frames:
Frame: /base_footprint published by /robot_pose_ekf Average Delay: 0.0562317 Max Delay: 0.0831862
Frame: /base_link published by /robot_state_publisher Average Delay: -0.483662 Max Delay: 0
Frame: /front_wheel_link published by /robot_state_publisher Average Delay: -0.483628 Max Delay: 0
Frame: /gyro_link published by /robot_state_publisher Average Delay: -0.483624 Max Delay: 0
Frame: /kinect_depth_frame published by /robot_state_publisher Average Delay: -0.48362 Max Delay: 0
Frame: /kinect_depth_optical_frame published by /robot_state_publisher Average Delay: -0.483616 Max Delay: 0
Frame: /kinect_link published by /robot_state_publisher Average Delay: -0.483654 Max Delay: 0
Frame: /kinect_rgb_frame published by /robot_state_publisher Average Delay: -0.483612 Max Delay: 0
Frame: /kinect_rgb_optical_frame published by /robot_state_publisher Average Delay: -0.483608 Max Delay: 0
Frame: /laser published by /robot_state_publisher Average Delay: -0.483604 Max Delay: 0
Frame: /left_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.48365 Max Delay: 0
Frame: /left_wheel_link published by /robot_state_publisher Average Delay: -0.948303 Max Delay: 0
Frame: /leftfront_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.483645 Max Delay: 0
Frame: /odom published by /amcl Average Delay: -0.856934 Max Delay: 0
Frame: /plate_0_link published by /robot_state_publisher Average Delay: -0.4836 Max Delay: 0
Frame: /plate_1_link published by /robot_state_publisher Average Delay: -0.483596 Max Delay: 0
Frame: /plate_2_link published by /robot_state_publisher Average Delay: -0.483593 Max Delay: 0
Frame: /plate_3_link published by /robot_state_publisher Average Delay: -0.483589 Max Delay: 0
Frame: /rear_wheel_link published by /robot_state_publisher Average Delay: -0.483585 Max Delay: 0
Frame: /right_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.483641 Max Delay: 0
Frame: /right_wheel_link published by /robot_state_publisher Average Delay: -0.948296 Max Delay: 0
Frame: /rightfront_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.483636 Max Delay: 0
Frame: /spacer_0_link published by /robot_state_publisher Average Delay: -0.483581 Max Delay: 0
Frame: /spacer_1_link published by /robot_state_publisher Average Delay: -0.483577 Max Delay: 0
Frame: /spacer_2_link published by /robot_state_publisher Average Delay: -0.483573 Max Delay: 0
Frame: /spacer_3_link published by /robot_state_publisher Average Delay: -0.483569 Max Delay: 0
Frame: /standoff_2in_0_link published by /robot_state_publisher Average Delay: -0.483564 Max Delay: 0
Frame: /standoff_2in_1_link published by /robot_state_publisher Average Delay: -0.48356 Max Delay: 0
Frame: /standoff_2in_2_link published by /robot_state_publisher Average Delay: -0.483556 Max Delay: 0
Frame: /standoff_2in_3_link published by /robot_state_publisher Average Delay: -0.48355 Max Delay: 0
Frame: /standoff_2in_4_link published by /robot_state_publisher Average Delay: -0.483546 Max Delay: 0
Frame: /standoff_2in_5_link published by /robot_state_publisher Average Delay: -0.483541 Max Delay: 0
Frame: /standoff_2in_6_link published by /robot_state_publisher Average Delay: -0.483536 Max Delay: 0
Frame: /standoff_2in_7_link published by /robot_state_publisher Average Delay: -0.483532 Max Delay: 0
Frame: /standoff_8in_0_link published by /robot_state_publisher Average Delay: -0.483528 Max Delay: 0
Frame: /standoff_8in_1_link published by /robot_state_publisher Average Delay: -0.483523 Max Delay: 0
Frame: /standoff_8in_2_link published by /robot_state_publisher Average Delay: -0.483518 Max Delay: 0
Frame: /standoff_8in_3_link published by /robot_state_publisher Average Delay: -0.483514 Max Delay: 0
Frame: /standoff_kinect_0_link published by /robot_state_publisher Average Delay: -0.483509 Max Delay: 0
Frame: /standoff_kinect_1_link published by /robot_state_publisher Average Delay: -0.483505 Max Delay: 0
Frame: /wall_sensor_link published by /robot_state_publisher Average Delay: -0.483631 Max Delay: 0

All Broadcasters:
Node: /amcl 14.3912 Hz, Average Delay: -0.856934 Max Delay: 0
Node: /robot_pose_ekf 10.0275 Hz, Average Delay: 0.0562317 Max Delay: 0.0831862
Node: /robot_state_publisher 31.0251 Hz, Average Delay: -0.498419 Max Delay: 0

The difference between rostopic listings is that when the error occurs many fewer move_base topics are listed.

/move_base/current_goal
/move_base/goal
/move_base_simple/goal

Compared to the normal condition

/move_base/NavfnROS/NavfnROS_costmap/inflated_obstacles
/move_base/NavfnROS/NavfnROS_costmap/obstacles
/move_base/NavfnROS/NavfnROS_costmap/robot_footprint
/move_base/NavfnROS/NavfnROS_costmap/unknown_space
/move_base/NavfnROS/plan
/move_base/TrajectoryPlannerROS/cost_cloud
/move_base/TrajectoryPlannerROS/global_plan
/move_base/TrajectoryPlannerROS/local_plan
/move_base/TrajectoryPlannerROS/parameter_descriptions
/move_base/TrajectoryPlannerROS/parameter_updates
/move_base/cancel
/move_base/current_goal
/move_base/feedback
/move_base/global_costmap/inflated_obstacles
/move_base/global_costmap/obstacles
/move_base/global_costmap/parameter_descriptions
/move_base/global_costmap/parameter_updates
/move_base/global_costmap/robot_footprint
/move_base/global_costmap/unknown_space
/move_base/goal
/move_base/local_costmap/inflated_obstacles
/move_base/local_costmap/obstacles
/move_base/local_costmap/parameter_descriptions
/move_base/local_costmap/parameter_updates
/move_base/local_costmap/robot_footprint
/move_base/local_costmap/unknown_space
/move_base/parameter_descriptions
/move_base/parameter_updates
/move_base/result
/move_base/status
/move_base_simple/goal

By inserting a lot of INFOs into move_base.cpp it seems that when the problem occurs move_base gets stuck at this line:

planner_costmap_ros_ = new costmap_2d::Costmap2DROS("global_costmap", tf_);