"Unable to lookup transform, cache is empty" error while running navigation stack [closed]

asked 2013-11-26 23:14:35 -0600

pedrocaldeira gravatar image

I am trying to run the navigation stack with a map built with gmapping. I followed the navigation stack tutorial (the RobotSetup one). The ROS version is Groovy.

Then, after I run the navigation launch file (as indicated in the tutorial), the terminal repeatedly reports an error:

[ERROR] [1385493617.133940604]: Extrapolation Error: Unable to lookup transform, cache is empty, when looking up transform from frame [/odom] to frame [/map]

[ERROR] [1385493616.634300392]: Global Frame: /odom Plan Frame size 130: /map

[ WARN] [1385493616.634367789]: Could not transform the global plan to the frame of the controller

This is the entire output when the launch file is run:

bernardo@bernardo-Satellite-U400:~$ roslaunch robot socrob_nav.launch

... logging to /home/bernardo/.ros/log/38199960-56c9-11e3-abee-0022fa36e240/roslaunch- bernardo-Satellite-U400-7044.log

Checking log directory for disk usage. This may take awhile.

Press Ctrl-C to interrupt

Done checking log file disk usage. Usage is <1GB.

WARNING: ignoring defunct <master/> tag

started roslaunch server

SUMMARY

========

PARAMETERS

  • /amcl/gui_publish_rate

  • /amcl/kld_err

  • /amcl/kld_z

  • /amcl/laser_lambda_short

  • /amcl/laser_likelihood_max_dist

  • /amcl/laser_max_beams

  • /amcl/laser_model_type

  • /amcl/laser_sigma_hit

  • /amcl/laser_z_hit

  • /amcl/laser_z_max

  • /amcl/laser_z_rand

  • /amcl/laser_z_short

  • /amcl/max_particles

  • /amcl/min_particles

  • /amcl/odom_alpha1

  • /amcl/odom_alpha2

  • /amcl/odom_alpha3

  • /amcl/odom_alpha4

  • /amcl/odom_alpha5

  • /amcl/odom_frame_id

  • /amcl/odom_model_type

  • /amcl/recovery_alpha_fast

  • /amcl/recovery_alpha_slow

  • /amcl/resample_interval

  • /amcl/transform_tolerance

  • /amcl/update_min_a

  • /amcl/update_min_d


/move_base/TrajectoryPlannerROS/acc_lim_th


/move_base/TrajectoryPlannerROS/acc_lim_x


/move_base/TrajectoryPlannerROS/acc_lim_y


/move_base/TrajectoryPlannerROS/holonomic_robot


/move_base/TrajectoryPlannerROS/max_rotational_vel


/move_base/TrajectoryPlannerROS/max_vel_x


/move_base/TrajectoryPlannerROS/min_in_place_rotational_vel


/move_base/TrajectoryPlannerROS/min_vel_x


/move_base/global_costmap/global_frame


/move_base/global_costmap/inflation_radius


/move_base/global_costmap/observation_sources


/move_base/global_costmap/obstacle_range


/move_base/global_costmap/raytrace_range


/move_base/global_costmap/robot_base_frame


/move_base/global_costmap/robot_radius


/move_base/global_costmap/scan/clearing


/move_base/global_costmap/scan/data_type


/move_base/global_costmap/scan/marking


/move_base/global_costmap/scan/sensor_frame


/move_base/global_costmap/scan/topic


/move_base/global_costmap/static_map


/move_base/global_costmap/update_frequency


/move_base/local_costmap/global_frame

  • /move_base/local_costmap/height

/move_base/local_costmap/inflation_radius


/move_base/local_costmap/observation_sources


/move_base/local_costmap/obstacle_range


/move_base/local_costmap/publish_frequency


/move_base/local_costmap/raytrace_range

  • /move_base/local_costmap/resolution

/move_base/local_costmap/robot_base_frame


/move_base/local_costmap/robot_radius


/move_base/local_costmap/rolling_window


/move_base/local_costmap/scan/clearing


/move_base/local_costmap/scan/data_type


/move_base/local_costmap/scan/marking


/move_base/local_costmap/scan/sensor_frame

  • /move_base/local_costmap/scan/topic

  • /move_base/local_costmap/static_map


/move_base/local_costmap/update_frequency

  • /move_base/local_costmap/width

  • /rosdistro

  • /rosversion

NODES

amcl amcl/amcl

map_server map_server/map_server

move_base move_base/move_base

ROS_MASTER_URI=localhost:11311

core service [/rosout] found

process[map_server-1]: started with pid [7062]

process[amcl-2]: started with pid [7073]

process[move_base-3]: started with pid [7131]

[ INFO] [1385493581.630936693]: Subscribed to Topics: scan

[ INFO] [1385493581.655936869]: Requesting the map...

[ INFO] [1385493581.659333183]: Still waiting on map...

[ INFO] [1385493582.773607633]: Still waiting on map...

[ WARN] [1385493583.671941771]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server

[ INFO] [1385493583.672129574]: Received a 4000 X 4000 map at 0.050000 m/pix

[ INFO] [1385493591.795893428]: MAP SIZE: 4000, 4000

[ INFO] [1385493591.801992736]: Subscribed to Topics: scan

[ INFO] [1385493592.044804060]: Sim period is set to 0.05

[ WARN] [1385493592.055956104]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.

[ WARN] [1385493592 ...

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Closed for the following reason question is not relevant or outdated by David Lu
close date 2018-09-19 13:39:57.054012

Comments

1

Similar thread: http://answers.ros.org/question/106996/hydro-move_basetf2-extrapolation-error-into-the-future-errror/ . I posted my "solution" there. Could you check your transformation timings?

Niccer gravatar imageNiccer ( 2013-12-05 04:45:03 -0600 )edit