Warning: Costmap2DROS transform timeout and Could not get robot pose, cancelling reconfiguration keeps on coming.

asked 2014-12-16 14:29:00 -0600

Aarif gravatar image

Hello, i am trying to navigate a P3AT using navigation stack of ROS. My P3AT robot spawned in USARSim Simulator, when click on "2D Pose Estimate" button in rviz, following warning appears:-

[ WARN] [1418755409.463328718]: Failed to transform initial pose in time (Lookup would require extrapolation into the future.  Requested time 1418755409.463123216 but the latest data is at time 1418755409.267793132, when looking up transform from frame [/map] to frame [/base_link])

and then the following Pose Estimatation INFO appears:-

[ INFO] [1418755409.463394700]: Setting pose (1418755409.463378): 0.010 1.002 0.000

and when i assign a goal through rviz, robot roams around instead of reaching to the goal and following warning keeps on coming:-

[ WARN] [1418755475.875007845]: Costmap2DROS transform timeout. Current time: 1418755475.8750, global_pose stamp: 1418755475.5657, tolerance: 0.3000
[ WARN] [1418755476.294750399]: Could not get robot pose, canceling reconfiguration

I tried a lot every where but could not get any solution for this.

  1. Here you can see the rqt_graph Click here

  2. Here you can see the frame results Click here

  3. Below you can see the publishing rate of /odom /scan and /tf

    /odom-->average rate: 5.002 min: 0.193s max: 0.210s std dev: 0.00788s window: 39
    /scan--->average rate: 4.997 min: 0.193s max: 0.210s std dev: 0.00782s window: 39
    /tf-------->average rate: 40.086 min: 0.000s max: 0.112s std dev: 0.04128s window: 250
    

Below is ths result for rosrun tf tf_monitor

RESULTS: for all Frames

Frames:
Frame: /base_GndTruth published by /RosSim Average Delay: 0.000308496 Max Delay: 0.00043089
Frame: /base_footprint published by /RosSim Average Delay: 0.000359867 Max Delay: 0.000533135
Frame: /base_link published by /RosSim Average Delay: 0.0988194 Max Delay: 0.208548
Frame: /lms200 published by /RosSim Average Delay: 0.000360125 Max Delay: 0.000442482
Frame: /odom published by /amcl Average Delay: 0.0997808 Max Delay: 0.110182

All Broadcasters:
Node: /RosSim 37.2212 Hz, Average Delay: 0.0425422 Max Delay: 0.208548
Node: /amcl 5.76487 Hz, Average Delay: 0.0997808 Max Delay: 0.110182

Below are my costmap files:-

1. base_local_planner_params.yaml

TrajectoryPlannerROS:
  # for details see: http://www.ros.org/wiki/base_local_planner
  max_vel_x: 0.45
  min_vel_x: 0.1
  max_rotational_vel: 1.0
  min_in_place_rotational_vel: 0.4

  acc_lim_th: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: false

# goal tolerance parameters
  yaw_goal_tolerance: 0.1
  xy_goal_tolerance: 0.2
  latch_xy_goal_tolerance: true

2. costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.3, 0.3], [0.3, -0.3], [-0.3, -0.3], [-0.3, 0.3]][0.075, -0.178]]
#robot_radius: ir_of_robot
inflation_radius: 0.55

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: lms200, data_type: LaserScan, topic: scan, marking: true, clearing: true}

3. global_costmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: /base_link
  update_frequency: 5.0
  static_map: true

4. local_costmap_params.yaml

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05

5. move_base.launch

<launch>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find ...
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Comments

did you manage to make it work?

Mehdi. gravatar imageMehdi. ( 2015-08-05 04:34:35 -0600 )edit

hi @Mehdi, I couldn't resolved it, so instead of using ROS navigation stack i've created my own navigation stack. it is not fully autonomous but i can say it semi autonomous. :)

Aarif gravatar imageAarif ( 2015-08-26 04:45:43 -0600 )edit