ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

About turtlebot_2dnav [closed]

asked 2015-03-24 11:50:34 -0600

pexison gravatar image

updated 2015-03-25 10:54:02 -0600

Hello, I'm trying to implement the backend for one web application that use the NAV2DJS from Robot web tools, I made a launch file in order to have all the nodes required, but it gives me this error:

[ WARN] [1427214700.876816371]: Waiting on transform from base_footprint to map to become available before running costmap, tf error:

In order to try only this part turtlebot_2dnav (having on mind the nodes already used by the webpage), this is the order of launching nodes

$ roscore
$ roslaunch turtlebot_bringup minimal.launch
$ roslaunch openni_camera openni.launch
$ roslaunch control turtlebot_2dnav.launch

Where turtlebot_2dnav.launch file is:

  <arg name="image" default="/camera/depth/image_raw"/>
  <node name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" args="$(arg image)"/>

  <!-- Map server -->
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>
  <arg name="map_file" default="/home/robot/Desktop/gamma/map_sample/office.yaml"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)"/>
  <include file="$(find turtlebot_navigation)/launch/includes/amcl.launch.xml">
    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>

  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>


The actual graph of this part is:


What could be the problem?

Thanks beforehand!

edit retag flag offensive reopen merge delete

Closed for the following reason the question is answered, right answer was accepted by pexison
close date 2015-04-01 17:03:18.566602


please, can you post your tf tree also? rosrun tf view_frames

Procópio gravatar image Procópio  ( 2015-03-25 03:01:33 -0600 )edit

you can take a look here: Frames I cannot post images because I don't have enough karma

pexison gravatar image pexison  ( 2015-03-25 03:45:18 -0600 )edit

2 Answers

Sort by » oldest newest most voted

answered 2015-04-01 17:02:46 -0600

pexison gravatar image

I make a little package that satisfy this requirement, for further info: turtlebot_2dnav.

edit flag offensive delete link more

answered 2015-03-25 22:18:20 -0600

2ROS0 gravatar image

Your tf tree doesn't have the /map frame.

In the general case, your amcl node would provide this transform from /odom to /map. Check the amcl launch file to see if there is a remapping required to make sure it is getting the map from the map server.

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2015-03-24 11:50:34 -0600

Seen: 262 times

Last updated: Apr 01 '15