I am trying to configure my robot for navigation,My robot is moving around with the help of keyboard teleop,but when launching move_base.launch it is showing the below mentioned error
Timed out waiting for transform from baselink to map to become available before running costmap, tf error: canTransform: targetframe map does not exist. canTransform: sourceframe baselink does not exist.. canTransform returned after 0.100354 timeout was 0.1. any required file can be uploaded,please ask.
Asked by akshayantony on 2019-11-11 06:34:34 UTC
Comments
launch everything up as you did previously then type
Upload that image.
Asked by bob-ROS on 2019-11-11 07:34:03 UTC
try setting a higher timeout value and see if this solves your issue.
Asked by Choco93 on 2019-11-11 08:18:42 UTC
https://drive.google.com/file/d/1JolJqpRcprjpDmXogpcyyMvSGJPtXPgz/view?usp=sharing this is the transform tree link
Asked by akshayantony on 2019-11-11 08:42:31 UTC
@bob-ROS THANK you for your reply,i have attached the link of tf tree in the above comment
Asked by akshayantony on 2019-11-11 08:44:13 UTC
you can see from the image that there is no map frame. And no base_link either. What is your current setup? What are you using for publishing odom and map frame?
Asked by Choco93 on 2019-11-11 08:56:05 UTC
Like @Choco93 said, there is neither a base_link or a map. Therefore there can't be a transformation between base_link and map. Rename "frame" to "base_link" in your urdf. But you don't have any map, do you plan to run localization (e.g existing map + AMCL) or create your own map using SLAM?
Asked by bob-ROS on 2019-11-11 09:05:30 UTC
I currently have a map, and to create one my gmapping is running fine.So now i will change frame to base_link now.
Asked by akshayantony on 2019-11-11 10:46:51 UTC
@Choco93 @bob-ROS https://drive.google.com/open?id=1LNge1chhAy3aHOqewGy8AlUQtSWEyKrW this is the link to my urdf files,can you help me a little bit more,any questions are welcome
Asked by akshayantony on 2019-11-22 14:56:14 UTC
Can you share your current tf-tree using
rosrun rqt_tf_tree rqt_tf_tree
Asked by Choco93 on 2019-11-22 15:26:34 UTC
Hm, is it when you run move_base you get problems with the costmap? I assume you have costmap.yaml file, try adding "robot_base_frame: frame" and it will probably resolve the problems with the costmaps. See https://github.com/husky/husky/blob/kinetic-devel/husky_navigation/config/costmap_common.yaml for an example of them tracking base_link.
Asked by bob-ROS on 2019-11-22 16:10:07 UTC
@bob-ROS i am attaching my whole folder in the link https://drive.google.com/open?id=1o1tEGbthYtOjIXOkOHzHX4r4zQYe6Ukr .it is a mobile robot to do autonomous navigation using kinect v2.you previously mentioned about the adding base_link can you please elaborate it.thanks
Asked by akshayantony on 2019-11-23 04:35:35 UTC
@bob-ROS i am using amcl+existing map type.
Asked by akshayantony on 2019-11-23 04:37:27 UTC
You have a "base_link " not a "base_link", the spaces matter. I was a bit unclear, realized that you had code previously that looked for a frame called "frame", e.g the amcl.launch looks for "frame". I would rename base_link back to frame and then try to fix this in config/costmap_common_params.yaml by adding robot_base_frame: frame, see above for example in the husky when they define the robot_base_frame as base_link.
Asked by bob-ROS on 2019-11-23 10:15:17 UTC
@bob-ROS Timed out waiting for transform from frame to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.1 timeout was 0.1. THIS IS THE NEW ERROR WHEN I CHANGED TO robot_base_frame as base_link.
Asked by akshayantony on 2019-11-24 07:08:32 UTC
@bob-ROS @Choco93 i changed the robot base frame to frame and is now working but the nav destination is given thr robot moves randomly and collapses somewhere.this is the rqt graph link https://drive.google.com/open?id=1mwM39USqstFexw5upi-jALp1-vuQhJMf
Asked by akshayantony on 2019-11-24 14:35:18 UTC