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Writing A Global Path Planner As Plugin in ROS in Hector quadrotor

asked 2016-04-14 17:35:06 -0600

Yesica gravatar image

updated 2016-04-15 11:18:46 -0600

Hello, I decided to do the tutorial Writing As A Global Path Planner Plugin in ROS . but to run the plugin I do not use turtlebot, instead I want to do the test with hector quadrotor using gazebo. when I run roslaunch global_planner test_global_planner.launch I get the following error

[ INFO] [1460671413.935780713, 108.883000000]: Using plugin "static_layer"

[ INFO] [1460671414.361550189, 109.173000000]: Requesting the map...

[ INFO] [1460671414.685686497, 109.396000000]: Resizing costmap to 584 X 526 at 0.100000 m/pix

[ INFO] [1460671414.805726823, 109.496000000]: Received a 584 X 526 map at 0.100000 m/pix

[ INFO] [1460671414.825754159, 109.507000000]: Using plugin "obstacle_layer"

[ INFO] [1460671414.848215673, 109.519000000]: Subscribed to Topics: scan bump

[ INFO] [1460671415.234670166, 109.789000000]: Using plugin "inflation_layer"

[ WARN] [1460671421.622039999, 115.474000000]: Timed out waiting for transform from base_link to odom to become available before running costmap, tf error: . canTransform returned after 0.106 timeout was 0.1.

Thanks :)

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answered 2016-04-15 11:41:16 -0600

updated 2016-04-15 11:41:31 -0600

It sounds like you are missing the transform from odom-->base_link. Try running rosrun tf view_frames to see the transform tree. What do you have set as the odom frame? Chances are you have it set to odom. Try changing it to base_link instead.

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thanks, but now I have the following error "[ WARN] [14179.829061, 52.9710]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.1 timeout was 0.1" Could you give me a little more light on how this works =)

Yesica gravatar imageYesica ( 2016-04-22 16:41:38 -0600 )edit

@have you figured this out?

aarontan gravatar imageaarontan ( 2018-06-07 14:39:01 -0600 )edit

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Asked: 2016-04-14 17:35:06 -0600

Seen: 492 times

Last updated: Apr 15 '16