Hi,

Following all the steps described in the Navigation tutorials has led me to the point of finally being able to set a 2D Nav Goal. Unfortunately, whenever I do this, my robot keeps rotating and rotating, every now and then there are tiny accelerations in the x-direction, but so small, that there is no movement at all (except for the rotation)...

Prior to that I set the 2D Pose Estimate and do drive around with the joystick, but none of them does solve my problem.

I run ROS Kinetic in Ubuntu 16.04.2 LTS on a Raspberry Pi 3. Odom gets published via laserscanmatcher. Here is the rqt_graph (imgur-link). Since the radius of the particles is at least approximately 0.5m I assume that this might be the problem, but I'm not sure about that. Whenever the robot rotates, there is a shrinkage and growth of the radius, but it seems like the robot can't localize itself well enough.

Has anyone of you ever experienced a similar behaviour?

Following is the output I get after setting the 2D Nav Goal.

 [ WARN] [1493310857.355308516]: Costmap2DROS transform timeout. Current time: 1493310857.3550, global_pose stamp: 1493310857.0481, tolerance: 0.3000
[ WARN] [1493310857.359349766]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1493310857.799819775]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1493310857.855589411]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1493310858.948979328]: Costmap2DROS transform timeout. Current time: 1493310858.9487, global_pose stamp: 1493310858.6479, tolerance: 0.3000
[ WARN] [1493310858.949254432]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1493310860.662200924]: Costmap2DROS transform timeout. Current time: 1493310860.6620, global_pose stamp: 1493310860.3455, tolerance: 0.3000
[ WARN] [1493310860.662507955]: Could not get robot pose, cancelling reconfiguration

Obviously the robot can't be localized well enough. But how do I achieve that? Are there any params that need to be set? Or is it rather a problem in my navigation stack?

As always, every helping hand is appreciated. Thanks in advance.

---

baselocalplanner_params.yaml

TrajectoryPlannerROS:
  max_vel_x: 0.19
  min_vel_x: -0.19
  max_vel_theta: 0.30
  min_vel_theta: -0.30
  max_in_place_vel_theta: 0.34
  min_in_place_vel_theta: -0.34

  acc_lim_theta: 0.19
  acc_lim_x: 0.05
  acc_lim_y: 0.05

  holonomic_robot: true

  meter_scoring: true
  controller_frequency: 3.0

  dwa: true

---

costmapcommonparams.yaml

plugins:
  - {name: static_map,      type: "costmap_2d::StaticLayer"}
  - {name: obstacles,       type: "costmap_2d::VoxelLayer"}
  - {name: inflation_layer, type: "costmap_2d::InflationLayer"}

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[0.05, 0.05], [0.05, -0.05],[0, -0.10]]
#robot_radius: 0.20
inflation_radius: 0.55

obstacles:
  observation_sources: laser_scan_sensor
  laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}

---

globalcostmapparams.yaml

global_costmap:
  global_frame: /map
  robot_base_frame: base
  update_frequency: 0.8
  static_map: true
  width: 5
  height: 2
planner_frequency: 0.3

---

localcostmapparams.yaml

local_costmap:
  global_frame: odom
  robot_base_frame: base
  update_frequency: 1.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 3.0
  height: 3.0
  resolution: 0.05
controller_frequency: 2.0