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error message when running "Quadrotor indoor SLAM demo"

asked 2012-03-26 07:44:45 -0500

updated 2014-01-28 17:11:44 -0500

Hi,

When I tried to run the quadrotor demo here , I got the following error message:

[ERROR] [1332786035.950907356, 0.255000000]: Trajectory Server: Transform from /map to /base_link failed: Frame id /map does not exist! Frames (6): Frame /front_cam_link exists with parent /base_link.
Frame /base_link exists with parent NO_PARENT.
Frame /front_cam_optical_frame exists with parent /front_cam_link.
Frame /laser0_frame exists with parent /base_link.
Frame /sonar_link exists with parent /base_link.


[ERROR] [1332786036.383930902, 0.503000000]: Trajectory Server: Transform from /map to /base_link failed: Frame id /map does not exist! Frames (9): Frame /front_cam_link exists with parent /base_link.
Frame /base_link exists with parent /base_stabilized.
Frame /front_cam_optical_frame exists with parent /front_cam_link.
Frame /laser0_frame exists with parent /base_link.
Frame /sonar_link exists with parent /base_link.
Frame /base_footprint exists with parent /nav.
Frame /nav exists with parent NO_PARENT.
Frame /base_stabilized exists with parent /base_footprint.


[ INFO] [1332786036.541020052, 0.555000000]: lookupTransform base_footprint to /laser0_frame timed out. Could not transform laser scan into base_frame.
[rviz-9] process has died [pid 3011, exit code -11]. log files: /home/user/.ros/log/5e1b3464-7770-11e1-8b32-0023aea58509/rviz-9*.log


[ERROR] [1332786036.869724780, 0.750000000]: Trajectory Server: Transform from /map to /base_link failed: Frame id /map does not exist! Frames (9): Frame /front_cam_link exists with parent /base_link.
    Frame /base_link exists with parent /base_stabilized.
    Frame /front_cam_optical_frame exists with parent /front_cam_link.
    Frame /laser0_frame exists with parent /base_link.
    Frame /sonar_link exists with parent /base_link.
    Frame /base_footprint exists with parent /nav.
    Frame /nav exists with parent NO_PARENT.
    Frame /base_stabilized exists with parent /base_footprint.


    [ERROR] [1332786037.258785570, 1.004000000]: Trajectory Server: Transform from /map to /base_link failed: Frame id /map does not exist! Frames (9): Frame /front_cam_link exists with parent /base_link.
    Frame /base_link exists with parent /base_stabilized.
    Frame /front_cam_optical_frame exists with parent /front_cam_link.
    Frame /laser0_frame exists with parent /base_link.
    Frame /sonar_link exists with parent /base_link.
    Frame /base_footprint exists with parent /nav.
    Frame /nav exists with parent NO_PARENT.
    Frame /base_stabilized exists with parent /base_footprint.


    [ERROR] [1332786037.356971730, 1.055000000]: Transform failed during publishing of map_odom transform: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_footprint] to frame [/nav]

Could anybody let me know how to resolve the error message ?

Thanks~

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answered 2012-03-26 09:05:45 -0500

Most of these errors should be startup artifacts, when not all nodes are running yet. The main problem is that rviz seems to crash when trying to load the .vcg config file specified in the launch file. This seems to happen occasionally for no particular reason in electric. You can restart rviz afterwards and try to manually load the indoor SLAM .vcg config file. You can also just start up rviz and add displays that you´re interested in yourself.

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Hi Stefan, Even I do "roslaunch hector_quadrotor_demo indoor_slam_gazebo.launch" with commenting rviz, the above error message comes out. Any suggestion ?

maruchi ( 2012-03-29 05:51:09 -0500 )edit

Stefan, Even though I get all the above message, I can see gazebo simulation with rviz, camera view. Is the above message just warning message due to others, for example, no maps or something ?

maruchi ( 2012-03-30 09:31:41 -0500 )edit

These errors are just startup artifacts, as the whole tf tree is not yet available and nodes are started in more or less random order. As long as everything settles and works after 1-2 seconds just ignore them :)

Stefan Kohlbrecher ( 2012-04-03 21:12:33 -0500 )edit

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Asked: 2012-03-26 07:44:45 -0500

Seen: 576 times

Last updated: Mar 26 '12