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Problem with navigation

asked 2016-02-06 06:46:45 -0500

updated 2016-02-07 05:36:57 -0500

Hello!

I am new to ROS, so please bear with me. I am going through navigation tutorials of ROS listed here.

When I launch the amcl.demo file I get the following error continuously:

[WARN] [1454762481.036046933, 3051.340000000]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1.

Due to this, the 2D pose Estimate and 2D nav goal don't work in Rviz. The Exploration, Static map, Global Costmap, Local Costmap show an error in Rviz.

Can anyone please help?

Thanks!

EDIT 1: Here is the summary of the terminal:

sri@Sri:~$ roslaunch husky_navigation amcl_demo.launch
... logging to /home/sri/.ros/log/99bc8912-cd81-11e5-9cc6-681729436688/roslaunch-Sri-16730.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Sri:40227/

SUMMARY
========

PARAMETERS
 * /amcl/gui_publish_rate: 10.0
 * /amcl/kld_err: 0.05
 * /amcl/kld_z: 0.99
 * /amcl/laser_lambda_short: 0.1
 * /amcl/laser_likelihood_max_dist: 2.0
 * /amcl/laser_max_beams: 60
 * /amcl/laser_max_range: 12.0
 * /amcl/laser_model_type: likelihood_field
 * /amcl/laser_sigma_hit: 0.2
 * /amcl/laser_z_hit: 0.5
 * /amcl/laser_z_max: 0.05
 * /amcl/laser_z_rand: 0.5
 * /amcl/laser_z_short: 0.05
 * /amcl/max_particles: 2000
 * /amcl/min_particles: 500
 * /amcl/odom_alpha1: 0.2
 * /amcl/odom_alpha2: 0.2
 * /amcl/odom_alpha3: 0.2
 * /amcl/odom_alpha4: 0.2
 * /amcl/odom_alpha5: 0.1
 * /amcl/odom_frame_id: odom
 * /amcl/odom_model_type: diff
 * /amcl/recovery_alpha_fast: 0.0
 * /amcl/recovery_alpha_slow: 0.0
 * /amcl/resample_interval: 1
 * /amcl/transform_tolerance: 1.0
 * /amcl/update_min_a: 0.2
 * /amcl/update_min_d: 0.25
 * /amcl/use_map_topic: True
 * /move_base/DWAPlannerROS/acc_lim_th: 3.2
 * /move_base/DWAPlannerROS/acc_lim_x: 2.5
 * /move_base/DWAPlannerROS/acc_lim_y: 0
 * /move_base/DWAPlannerROS/latch_xy_goal_tolerance: False
 * /move_base/DWAPlannerROS/max_rot_vel: 1.0
 * /move_base/DWAPlannerROS/max_trans_vel: 0.5
 * /move_base/DWAPlannerROS/max_vel_x: 0.5
 * /move_base/DWAPlannerROS/max_vel_y: 0
 * /move_base/DWAPlannerROS/min_rot_vel: 0.2
 * /move_base/DWAPlannerROS/min_trans_vel: 0.1
 * /move_base/DWAPlannerROS/min_vel_x: 0.0
 * /move_base/DWAPlannerROS/min_vel_y: 0
 * /move_base/DWAPlannerROS/xy_goal_tolerance: 0.2
 * /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.1
 * /move_base/NavfnROS/allow_unknown: True
 * /move_base/NavfnROS/default_tolerance: 0.1
 * /move_base/TrajectoryPlannerROS/acc_lim_theta: 3.2
 * /move_base/TrajectoryPlannerROS/acc_lim_x: 2.5
 * /move_base/TrajectoryPlannerROS/angular_sim_granularity: 0.02
 * /move_base/TrajectoryPlannerROS/controller_frequency: 20.0
 * /move_base/TrajectoryPlannerROS/dwa: True
 * /move_base/TrajectoryPlannerROS/escape_reset_dist: 0.1
 * /move_base/TrajectoryPlannerROS/escape_reset_theta: 0.1
 * /move_base/TrajectoryPlannerROS/escape_vel: -0.1
 * /move_base/TrajectoryPlannerROS/gdist_scale: 1.0
 * /move_base/TrajectoryPlannerROS/heading_lookahead: 0.325
 * /move_base/TrajectoryPlannerROS/heading_scoring: False
 * /move_base/TrajectoryPlannerROS/heading_scoring_timestep: 0.8
 * /move_base/TrajectoryPlannerROS/holonomic_robot: False
 * /move_base/TrajectoryPlannerROS/latch_xy_goal_tolerance: False
 * /move_base/TrajectoryPlannerROS/max_vel_theta: 1.0
 * /move_base/TrajectoryPlannerROS/max_vel_x: 1.0
 * /move_base/TrajectoryPlannerROS/meter_scoring: True
 * /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.2
 * /move_base/TrajectoryPlannerROS/min_vel_theta: -1.0
 * /move_base/TrajectoryPlannerROS/min_vel_x: 0.0
 * /move_base/TrajectoryPlannerROS/occdist_scale: 0.1
 * /move_base/TrajectoryPlannerROS/oscillation_reset_dist: 0.25
 * /move_base/TrajectoryPlannerROS/pdist_scale: 0.75
 * /move_base/TrajectoryPlannerROS/publish_cost_grid_pc: True
 * /move_base/TrajectoryPlannerROS/sim_granularity: 0.02
 * /move_base/TrajectoryPlannerROS/sim_time: 2.0
 * /move_base/TrajectoryPlannerROS/simple_attractor: False
 * /move_base/TrajectoryPlannerROS/vtheta_samples: 20
 * /move_base/TrajectoryPlannerROS/vx_samples: 6
 * /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.2
 * /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.1
 * /move_base/base_global_planner: navfn/NavfnROS
 * /move_base/base_local_planner: dwa_local_planner...
 * /move_base/controller_frequency: 5.0
 * /move_base/global_costmap/footprint: [[-0.5, -0 ...
(more)
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Comments

Error missing

Humpelstilzchen gravatar imageHumpelstilzchen ( 2016-02-07 02:40:29 -0500 )edit

Sorry. I have added the error now.

Srinidhi gravatar imageSrinidhi ( 2016-02-07 03:35:32 -0500 )edit

1 Answer

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answered 2016-02-07 11:57:30 -0500

updated 2016-02-08 14:50:53 -0500

I was able to replicate this error, and got rid of it by running sudo apt-get install ros-indigo-husky-*

This installed a few additional husky packages that I didn't have, and then it all worked fine

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Comments

Thank you so much! This worked like a charm.

Also, it should be ros instead of rose in the answer. Please rectify it. Thanks!

Srinidhi gravatar imageSrinidhi ( 2016-02-08 14:50:08 -0500 )edit

well spotted - the perils of auto correct

nickw gravatar imagenickw ( 2016-02-08 14:51:15 -0500 )edit

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Asked: 2016-02-06 06:46:45 -0500

Seen: 518 times

Last updated: Feb 08 '16