Set the initial pose with rviz
Hi everyone! I got a problem when I run the navigation stack with rviz. When setting the initial pose with rivz I got a warning :
[ WARN] [1302846487.971832409]: Failed to transform initial pose in time (You requested a transform that is 0.054 miliseconds in the past,
but the most recent transform in the tf buffer is 21.216 miliseconds old.
When trying to transform between /map and /base_link.)
[ INFO] [1302846487.971997932]: Setting pose (1302846487.971978): 1.194 6.348 -1.571
Here is the results of the run tf tf_monitor command:
RESULTS: for all Frames Frames:
Frame: /base_link published by /we_base_odom Average Delay: 0.00026288 Max Delay: 0.000908351
Frame: /laser_link published by /base_laser_tf Average Delay: -0.024749 Max Delay: 0
Frame: /odom published by /amcl Average Delay: -0.175799 Max Delay: 0
All Broadcasters:
Node: /amcl 13.3557 Hz, Average Delay: -0.175799 Max Delay: 0
Node: /base_laser_tf 39.866 Hz, Average Delay: -0.024749 Max Delay: 0
Node: /we_base_odom 49.9598 Hz, Average Delay: 0.00026288 Max Delay: 0.000908351
I run the rostopic echo /initialpose command, and I got the following outputs when I set the initial pose:
header:
seq: 2
stamp:
secs: 0
nsecs: 0
frame_id: /map
pose:
pose:
position:
x: 1.19398033619
y: 6.34785318375
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.707106781187
w: 0.707106781187
covariance: [0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891945200942, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
my tf tree is like: this /map->/odom->/base_link->/laser_link. Here is the frame.pdf:
How can I fix this problem? Thank you !