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Turtlebot navigation tf error

asked 2011-11-19 08:42:35 -0500

updated 2011-11-20 05:12:47 -0500

When running the Turtlebot navigation demo I often get the following error:

Waiting on transform from /base_link to /map to become available before running costmap, tf error

Which occurs repeatedly until I quit. On about 20% of attempts the navigation starts normally. Any ideas on what might be causing this? One thing which I'm doing differently is using a map with resolution of 0.02, so perhaps it could be something related to the map being larger than expected.

tf_monitor output when the problem occurs is as follows:

RESULTS: for all Frames

Frames:
Frame: /base_footprint published by /robot_pose_ekf Average Delay: 0.0555048 Max Delay: 0.0800429
Frame: /base_link published by /robot_state_publisher Average Delay: -0.484329 Max Delay: 0
Frame: /front_wheel_link published by /robot_state_publisher Average Delay: -0.484305 Max Delay: 0
Frame: /gyro_link published by /robot_state_publisher Average Delay: -0.484302 Max Delay: 0
Frame: /kinect_depth_frame published by /robot_state_publisher Average Delay: -0.4843 Max Delay: 0
Frame: /kinect_depth_optical_frame published by /robot_state_publisher Average Delay: -0.484297 Max Delay: 0
Frame: /kinect_link published by /robot_state_publisher Average Delay: -0.484324 Max Delay: 0
Frame: /kinect_rgb_frame published by /robot_state_publisher Average Delay: -0.484294 Max Delay: 0
Frame: /kinect_rgb_optical_frame published by /robot_state_publisher Average Delay: -0.484291 Max Delay: 0
Frame: /laser published by /robot_state_publisher Average Delay: -0.484289 Max Delay: 0
Frame: /left_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.484321 Max Delay: 0
Frame: /left_wheel_link published by /robot_state_publisher Average Delay: -0.950178 Max Delay: 0
Frame: /leftfront_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.484319 Max Delay: 0
Frame: /plate_0_link published by /robot_state_publisher Average Delay: -0.484286 Max Delay: 0
Frame: /plate_1_link published by /robot_state_publisher Average Delay: -0.484284 Max Delay: 0
Frame: /plate_2_link published by /robot_state_publisher Average Delay: -0.484282 Max Delay: 0
Frame: /plate_3_link published by /robot_state_publisher Average Delay: -0.484279 Max Delay: 0
Frame: /rear_wheel_link published by /robot_state_publisher Average Delay: -0.484277 Max Delay: 0
Frame: /right_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.484313 Max Delay: 0
Frame: /right_wheel_link published by /robot_state_publisher Average Delay: -0.950172 Max Delay: 0
Frame: /rightfront_cliff_sensor_link published by /robot_state_publisher Average Delay: -0.48431 Max Delay: 0
Frame: /spacer_0_link published by /robot_state_publisher Average Delay: -0.484274 Max Delay: 0
Frame: /spacer_1_link published by /robot_state_publisher Average Delay: -0.484272 Max Delay: 0
Frame: /spacer_2_link published by /robot_state_publisher Average Delay: -0.484269 Max Delay: 0
Frame: /spacer_3_link published by /robot_state_publisher Average Delay: -0.484267 Max Delay: 0
Frame: /standoff_2in_0_link published by /robot_state_publisher Average Delay: -0.484265 Max Delay: 0
Frame: /standoff_2in_1_link published by /robot_state_publisher Average Delay: -0.484262 Max Delay: 0
Frame: /standoff_2in_2_link published by /robot_state_publisher Average Delay: -0.484259 Max Delay: 0
Frame: /standoff_2in_3_link published by /robot_state_publisher Average Delay: -0.484256 Max Delay: 0
Frame: /standoff_2in_4_link published by /robot_state_publisher Average Delay: -0.484254 Max Delay: 0
Frame: /standoff_2in_5_link published by /robot_state_publisher Average Delay: -0.484251 Max Delay: 0
Frame: /standoff_2in_6_link published by /robot_state_publisher Average Delay: -0.484247 Max Delay: 0
Frame: /standoff_2in_7_link published by /robot_state_publisher Average Delay: -0.484243 Max Delay: 0
Frame: /standoff_8in_0_link published by /robot_state_publisher Average Delay: -0.48424 ...
(more)
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Comments

It seems like AMCL is not publishing the transform from map to odom in the case where you see the warning. Are you sure that its getting odometry and laser data and running correctly?
eitan gravatar image eitan  ( 2011-11-28 06:03:18 -0500 )edit

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answered 2012-02-22 07:41:23 -0500

brianpen gravatar image

I had the same error and found that minimal.launch (turtlebot) wasn't running. Double check roscore?

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Asked: 2011-11-19 08:42:35 -0500

Seen: 405 times

Last updated: Feb 22 '12