Ask Your Question
0

move_base changes clock of mapping node

asked 2013-11-22 04:28:13 -0600

pkohout gravatar image

updated 2013-12-12 20:13:39 -0600

tfoote gravatar image

Hi, i am using stage to simulate two robots. Mapping runs, but if i start move_base for the first roboter, its tf stops working. So i researched a little bit and found out that if i start move_base for robot_0 the map frame is published with a total different time. On the left (robot_0) with move_base started, on the right (robot_1) without move_base.

Why is the Most recent transform changing?

image description

And now move_base throws the following warning:

[ WARN] [1385137274.474605959]: Waiting on transform from /robot_0/base_footprint to /robot_0/map to become available before running costmap, tf error: Unable to lookup transform, cache is empty, when looking up transform from frame [/robot_0/base_footprint] to frame [/robot_0/map]

The tf tree is correct, so i take a look at the move_base source and the error is thrown in costmap_2d_ros.cpp:165

I have tried setting use_sim_time to true and to false, but the result always keep the same. And i used gmapping and hector_mapping, get the same problem by both

Anyone an idea how to solve that?

edit retag flag offensive close merge delete

Comments

if you need more information, just tell me

pkohout gravatar imagepkohout ( 2013-11-22 04:28:31 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted
1

answered 2013-12-12 20:15:36 -0600

tfoote gravatar image

With that large of a jump it is most likely that one of your robots is starting up using simulated time and the other is using Wall time. Make sure that you have set the using_sim_time before either of your robots has started.

edit flag offensive delete link more

Comments

I forgot to set the using_sim_time parameter to true, now it works

pkohout gravatar imagepkohout ( 2013-12-15 19:42:25 -0600 )edit

Great. Please accept the answer by clicking the checkmark at the left of the answer so others know the question is answered without reading your comment.

tfoote gravatar imagetfoote ( 2013-12-15 19:44:44 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2013-11-22 04:28:13 -0600

Seen: 104 times

Last updated: Dec 12 '13