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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:

<launch>
  <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>

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

</launch>

The actual graph of this part is:

Graph

What could be the problem?

Thanks beforehand!

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

Comments

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

Procópio gravatar imageProcópio ( 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 imagepexison ( 2015-03-25 03:45:18 -0600 )edit

2 Answers

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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.

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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.

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

Seen: 109 times

Last updated: Apr 01 '15