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[Groovy] How to link /scan to base_link?

asked 2014-07-28 01:57:45 -0500

Moda gravatar image

updated 2014-07-29 09:14:38 -0500

When I launch my move_base.launch, ( http://wiki.ros.org/navigation/Tutori... ) , I got this error :

Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
[ WARN] [1406541885.908819812]: No laser scan received (and thus no pose updates have been published) for 1406541885.908702 seconds.  Verify that data is being published on the /scan topic.

This is my frames.pdf file

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This is the rqt_graph :

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did you run roslaunch my_robot_configuration.launch first ?

bvbdort gravatar imagebvbdort ( 2014-07-28 03:59:44 -0500 )edit

yes I did.

Moda gravatar imageModa ( 2014-07-28 04:04:51 -0500 )edit

check if tf is available using $ rosrun tf view_frames $ evince frames.pdf

bvbdort gravatar imagebvbdort ( 2014-07-28 04:27:53 -0500 )edit

I've posted the result

Moda gravatar imageModa ( 2014-07-28 05:39:16 -0500 )edit

check laser is published on /scan topic. otherwise remap your laser topic to /scan. please upload picture of rqt_graph .

bvbdort gravatar imagebvbdort ( 2014-07-28 05:50:18 -0500 )edit

When I make rostopic echo /scan I see that somethink is published

Moda gravatar imageModa ( 2014-07-28 05:53:11 -0500 )edit

you can see that /odom is not subscribe by none. No idea about it.

bvbdort gravatar imagebvbdort ( 2014-07-28 06:39:38 -0500 )edit

No, I don't know how to link /odom to base_link

Moda gravatar imageModa ( 2014-07-28 06:44:22 -0500 )edit

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answered 2014-07-28 08:33:46 -0500

Maya gravatar image

Hey !

You need to publish the TF between odom and map. Not on the topic, the actual tf (check out the wiki for more information on it).

For a direct answer, in a launch file, use those lines of code :

<!-- Run a static transform between /odom and /map -->
<node pkg="tf" type="static_transform_publisher" name="odom_map_broadcaster" args="0 0 0 0 0 0 /map /odom 100" />

They will launch a node named odom_map_broadcaster that will publish a constant transform between /map and /odom. Here I suppose they are at the same place at first. Hope this help.

The laser scan is a warning only, it means tf is waiting for it (probably because you told move_base to use it) and you actually don't publish the transform for now. Understand that, even though you publish on the topic, what you miss here is the tf transform.

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But I don't have the package tf I tried to git clone https://github.com/ros/geometry.git but when I catekin_make, i got too much error

Moda gravatar imageModa ( 2014-07-28 08:41:07 -0500 )edit

Moreover, I tried to add your command in my launch file and it said cannot launch node of type [tf/static_transform_publisher]: can't locate node [static_transform_publisher] in package [tf]

Moda gravatar imageModa ( 2014-07-28 09:05:45 -0500 )edit

Why don't you `sudo apt-get install` the tf package then ? But according to your second comment it seems like you have it. Could you edit your question to add those information : Do you have the tf package (in the depot, no need to git clone) ?

Maya gravatar imageMaya ( 2014-07-29 09:08:06 -0500 )edit

No, I didn't manage to do it in groovy, so yesterday I installed a second distro, hydro, in which i managed to install, but it still doesn't work. So if in groovy you have the solution, I'm still ready to take it. Thank you

Moda gravatar imageModa ( 2014-07-29 09:11:00 -0500 )edit

I groovy when i maid sudo apt-get install ros-groovy-tf it said there is any package of this name

Moda gravatar imageModa ( 2014-07-29 09:11:38 -0500 )edit

That solution work with groovy and hydro. Try `apt-cache search ros-groovy-tf` to search for the package to install. TO make sure it's install use `dkpg -l | grep tf`

Maya gravatar imageMaya ( 2014-07-29 11:30:15 -0500 )edit

It found this in apt-cache search ros-groovy-tf

Moda gravatar imageModa ( 2014-08-01 02:57:56 -0500 )edit

ros-groovy-tf2-geometry-msgs - tf2_geometry_msgs ros-groovy-tf2-kdl - KDL binding for tf2 ros-groovy-tf2-msgs - tf2_msgs ros-groovy-tf2-ros - This package contains the ROS bindings for the tf2 library, for both Python and C++.

Moda gravatar imageModa ( 2014-08-01 02:58:11 -0500 )edit

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Asked: 2014-07-28 01:57:45 -0500

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Last updated: Jul 29 '14