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How to resolve error "Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101251 timeout was 0.1"

Hi, Please accept my apologies. Part of my capstone project I need to move around a fetch robot to collect data samples. So far, I have built a map of the lab and pass this map from the command line by

$roslaunch fetch_navigation fetch_nav.launch map_file:=/home/nhoque/maps/lab400.yaml

Then I get the error,

Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101251 timeout was 0.1

From the error I do understand that the map is expecting tf data from the base_link. Any help will be highly appreciated. Thank you.

Asked by nhoque on 2018-01-24 20:58:35 UTC

Comments

Well, it is expecting to have the transform from map -> ??? -> base_link. Typically, this error occurs if the localization is not running or not initialized. Can you check that everything is up and running, and that you can see the Robot localized in the map? You might have to set the inital pose.

Asked by mgruhler on 2018-01-25 02:12:32 UTC

Hi, Thank you. Before your advise I had navigaton stack and map server running but now I've navigation stack, map server and amcl running. The amcl saying nothing is published to /scan topic. It is asking me to verify. In Rviz I can see laser scan, how do I confirm it's publishing to /scan topic.

Asked by nhoque on 2018-01-31 17:27:31 UTC

Check the tutorials: http://wiki.ros.org/ROS/Tutorials. Especially number 1.1.5 and 1.1.6 about Topics and nodes. And therein, the command line tools rostopic and rosnode.

Asked by mgruhler on 2018-02-01 01:54:21 UTC

The error I get now is
"You must specify at least three points for the robot footprint, reverting to previous footprint" Then a warring "Costmap2DROS transform timeout" How do I get around this? I have read about costmaps but couldn't solve the issue. Thank you

Asked by nhoque on 2018-02-04 03:04:19 UTC

more info about the error please, exact paste of error message incl. context. please edit your question.

Asked by mgruhler on 2018-02-05 01:52:31 UTC

hello nhoque. I am also facing the same problem(Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error:canTransform: target_frame map does not exist..canTransform returned after 0.102 timeout was 0.1.) Can you tell me how you have solved this?

Asked by Mifta on 2018-03-07 00:49:31 UTC

Hi, This error comes up when the navigation stack could not find a map. Please check your map_name.yaml is looking at the right map_name.pgm file (correct .pgm file path in the .yaml file).

Asked by nhoque on 2018-03-07 20:09:42 UTC

thanks nhoque. I checked the map_name.yaml file. image name is correct in .yaml file. Do i need to include the full directory? (my map.yaml and map.pgm file is in "/home/mifta/catkin_ws/src/chapter6_tutorials/maps" folder)

Asked by Mifta on 2018-03-07 22:07:26 UTC

I have found solution for my problem. "" and "" were missing in my xacro file.

Asked by Mifta on 2018-03-09 04:07:26 UTC

I have the same issue when I put amcl in my launch file. If I run it separately after everything is running then it works fine. Any idea how to solve that ? Adding condition based on another running state ?

Asked by Cyril Jourdan on 2019-02-21 06:03:39 UTC

@Mifta, which xacro file did you add this to and which package were you running when you get this error? I am also facing the same error when trying to run husky_navigation amcl_demo

Asked by shrini96 on 2022-09-02 04:42:28 UTC

Answers