Tf error after upgrading hydro

asked 2014-01-23 02:25:43 -0500

carsten
16 ●1 ●1 ●3

updated 2014-01-23 02:42:42 -0500

Hello,

after upgrading hydro I'm having the following problem:

the tf-node shows misbehavoiur even with the default launch-files i.e. I'm running the gazebo-launch files for turtlebot-navigation

roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/path/to_my_map.yaml

Brings up the following Warning

[ WARN] [1390486537.516455089, 723.580000000]: Waiting on transform from base_footprint to map to become available before running costmap, tf error:

A rostopic list shows

/amcl/parameter_descriptions
/amcl/parameter_updates
/amcl_pose
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/points
/camera/parameter_descriptions
/camera/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/clock
/cmd_vel_mux/active
/cmd_vel_mux/input/navi
/cmd_vel_mux/input/safety_controller
/cmd_vel_mux/input/teleop
/cmd_vel_mux/parameter_descriptions
/cmd_vel_mux/parameter_updates
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/initialpose
/joint_states
/kobuki_safety_controller/disable
/kobuki_safety_controller/enable
/kobuki_safety_controller/reset
/map
/map_metadata
/mobile_base/commands/motor_power
/mobile_base/commands/reset_odometry
/mobile_base/commands/velocity
/mobile_base/events/bumper
/mobile_base/events/cliff
/mobile_base/events/wheel_drop
/mobile_base/sensors/bumper_pointcloud
/mobile_base/sensors/core
/mobile_base/sensors/imu_data
/mobile_base_nodelet_manager/bond
/move_base/current_goal
/move_base/goal
/move_base_simple/goal
/navigation_velocity_smoother/parameter_descriptions
/navigation_velocity_smoother/parameter_updates
/navigation_velocity_smoother/raw_cmd_vel
/odom
/particlecloud
/rosout
/rosout_agg
/scan
/tf
/tf_static

In rvis the map is shown. Maybe stupid question the map is published under the topic "/map" ... and tf seems to look after "map". Did somebody experience the same problems during the last days after the upgrade?

Edit: Shouldn't be there a base_footprint topic?

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This seems to be that amcl is not running. What outputs do you get. tf doesn't show up as individual topics.

dornhege ( 2014-01-23 03:10:20 -0500 )edit

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answered 2014-01-23 04:43:36 -0500

carsten
16 ●1 ●1 ●3

updated 2014-01-23 04:52:14 -0500

Hello dornhege, after your reply I started my computer again and it worked. But after shutting down the move-base node and starting it again (doing so a few times) the problem occured again. But it is not easy reproducible. My first impression is that there could something wrong in the gazebo plugin which produces this output

Dbg Plugin model name: mobile_base
[ INFO] [1390494712.717836162, 0.010000000]: Will publish tf. [mobile_base]
[ INFO] [1390494712.722853967, 0.010000000]: GazeboRosKobuki plugin ready to go!   [mobile_base]

I have to restart the gazebo simulation and in most cases navigation launches successfully.

I will try to track this problem in future. But up to this point it is annoying because it worked without any problems before the upgrade.

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Try `rosrun tf view_frames` to see what is published by tf. If it's something due to gazebo it might be odometry missing.

dornhege ( 2014-01-24 00:10:36 -0500 )edit

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Tf error after upgrading hydro

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Tf error after upgrading hydro