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TF transformation with move_base

asked 2016-01-15 15:05:05 -0500

ngoldfarb gravatar image

updated 2016-01-16 08:00:05 -0500

I am trying to run the code from Learning ROS for robotic programming (code) .

I am trying to run the code to use the navigation stack in chapter 9.

I first run,

roslaunch chapter9_tutorials chapter9_configuration_gazebo.launch

and I get this error, but it still brings up Rviz and gazebo

WARNING: [/home/nathaniel/Desktop/catkin_ws/src/Learning_ROS_for_Robotics_Programming_2nd_edition/chapter9_tutorials/launch/chapter9_configuration_gazebo.launch] unknown <include> attribute 'args'

I then run in another terminal this

roslaunch chapter9_tutorials move_base.launch

and I get the following output and I cannot set nav_goal

[ INFO] [1452891660.578951021]: Requesting the map...
[ WARN] [1452891660.579428957]: Request for map failed; trying again...
[ INFO] [1452891660.725584980]: Read a 4000 X 4000 map @ 0.050 m/cell
[ INFO] [1452891661.092120645]: Sending map
[ INFO] [1452891661.116882014]: Received a 4000 X 4000 map @ 0.050 m/pix

[ INFO] [1452891661.287410863]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1452891661.415541021]: Done initializing likelihood field model.
[ WARN] [1452891665.706081307]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.101058 timeout was 0.1.
[ WARN] [1452891670.765391786]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.100715 timeout was 0.1.
[ WARN] [1452891675.810640770]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.101084 timeout was 0.1.
[ WARN] [1452891676.518616416]: No laser scan received (and thus no pose updates have been published) for 1452891676.518504 seconds.  Verify that data is being published on the /scan topic.
[ WARN] [1452891680.863702773]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.101096 timeout was 0.1.
[ WARN] [1452891685.922265047]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.100973 timeout was 0.1.
[ WARN] [1452891690.972636769]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.100894 timeout was 0.1.
[ WARN] [1452891691.518436760]: No laser scan received (and thus no pose updates have been published) for 1452891691.518333 seconds.  Verify that data is being published on the /scan topic.
[ WARN] [1452891696.022488241]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.100835 timeout was 0.1.
[ WARN] [1452891701.072917128]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.100919 timeout was 0.1.
[ WARN] [1452891706.131551787]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.101107 timeout was 0.1.
[ WARN] [1452891706.517966566]: No laser scan received (and thus no pose updates have been published) for 1452891706.517833 seconds.  Verify that data is being published on ...
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ngoldfarb: hello,I am a ros beginner,I am studying this book in chapter 9.I met the same problem with you,but I don't know how to deal with it.Could you tell me how you deal with this question in detail?I will very thankful for your help.thank you.

KFBIT gravatar imageKFBIT ( 2016-01-22 02:46:44 -0500 )edit

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answered 2016-01-16 08:48:14 -0500

ngoldfarb gravatar image

It turns out that the problem was in the URDF. it was the wrong <robotBaseFrame>It is now working.

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Glad you figured it out!

Akif gravatar imageAkif ( 2016-01-16 08:50:44 -0500 )edit

@ngoldfarb , I didn't have to touch the URDF, so I don't think this was the problem.

See https://github.com/AaronMR/Learning_R...

Enrique gravatar imageEnrique ( 2016-01-23 12:14:18 -0500 )edit
3

answered 2016-01-16 03:48:42 -0500

Akif gravatar image

updated 2016-01-16 08:50:01 -0500

For the first one, <include> tag has no attribute as "args". Please check this wiki. Instead, arguments should be supplied like;

<include file="included.launch">
  <!-- all vars that included.launch requires must be set -->
  <arg name="hoge" value="fuga" />
</include>

For the second one (TF problem), it seems like amcl has different TF configuration. Can you post your TF tree?

Update

Looking you TF tree, nobody is publishing a transformation from map to base_footprint. In fact, correct order should be map->odom->base_footprint. AMCL may not be running. You can check it with rosnode list.

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I edited my post to include the TF tree

ngoldfarb gravatar imagengoldfarb ( 2016-01-16 08:38:00 -0500 )edit
0

answered 2016-01-23 00:15:13 -0500

KFBIT gravatar image

hello,I met other error when I run $ roslaunch chapter8_tutorials gazebo_mapping_robot.launch model:="rospack find robot1_description/urdf/robot1_base_04.xacro" $ rosrun teleop_twist_keyboard teleop_twist_keyboard.py in chapter8_tutorials.I chose fixed frame as odom,but Map LaserScan and RobotModel were error.It points out NO transform.

I run the next command -$ roslaunchchapter8_tutorials gazebo_map_robot.launch model:="rospack findchapter8_tutorials/urdf/robot1_base_04.xacro" . It points out Global Status error:Fixed Frame [odom] does not exist.Map and RobotModel are error.I am looking forward to your reply,thank you.

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answered 2016-01-23 12:10:59 -0500

Enrique gravatar image

updated 2016-01-23 20:21:35 -0500

Thanks for your feedback and contributions to diagnose the problem.

I've solved it here: https://github.com/AaronMR/Learning_R... Already merged into the hydro, indigo and jade -devel branches. Let me know if any of you still see this or another problem.

@ngoldfarb , I didn't have to touch the URDF

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I am still facing the same problem.

Amogh Gupta gravatar imageAmogh Gupta ( 2016-06-27 02:15:25 -0500 )edit

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Asked: 2016-01-15 15:05:05 -0500

Seen: 8,344 times

Last updated: Jan 23 '16