How multiple robots share a map?
I was following the instruction in this post
https://answers.ros.org/question/4143...
and I was able to launch 3 robots in the environment. the only problem is they can not use the map. I tested the map before using one robot and it worked.
does any one have an idea what could be the problem ??
the warning appears:
[ WARN] [1520822669.083386275, 5.051000000]: Request for map failed; trying again...
[ WARN] [1520822669.111106811, 5.078000000]: Timed out waiting for transform from robot2_tf/base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1520822669.115123720, 5.082000000]: Timed out waiting for transform from robot1_tf/base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.103 timeout was 0.1.
[ WARN] [1520822669.133585376, 5.100000000]: Timed out waiting for transform from robot3_tf/base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.103 timeout was 0.1.
and these are the launch files I am using:
1st: one_robot.launch
<launch>
<arg name="robot_name"/>
<arg name="init_pose"/>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"
args="$(arg init_pose) -param /robot_description -urdf -model $(arg robot_name) " />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
</launch>
2nd: robots.launch
<launch>
<!-- No namespace here as we will share this description.
Access with slash at the beginning -->
<param name="robot_description" textfile="$(find robot_description)/urdf/myrobot.urdf" />
<!-- BEGIN ROBOT 1-->
<group ns="robot1">
<param name="tf_prefix" value="robot1_tf" />
<include file="$(find robot_description)/launch/one_robot.launch" >
<arg name="init_pose" value="-x 0 -y 1 -z 0" />
<arg name="robot_name" value="Robot1" />
</include>
</group>
<!-- BEGIN ROBOT 2-->
<group ns="robot2">
<param name="tf_prefix" value="robot2_tf" />
<include file="$(find robot_description)/launch/one_robot.launch" >
<arg name="init_pose" value="-x 0 -y -1 -z 0" />
<arg name="robot_name" value="Robot2" />
</include>
</group>
<!-- BEGIN ROBOT 3-->
<group ns="robot3">
<param name="tf_prefix" value="robot3_tf" />
<include file="$(find robot_description)/launch/one_robot.launch" >
<arg name="init_pose" value="-x 0 -y -0 -z 0" />
<arg name="robot_name" value="Robot3" />
</include>
</group>
</launch>
3rd: move_base
<launch>
<!--- Run AMCL -->
<include file="$(find amcl)/examples/amcl_diff.launch" />
<!-- Define your move_base node -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find robot_description)/src/costmap_common_params.yaml" command="load" ns="global_costmap"/>
<rosparam file="$(find robot_description)/src/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find robot_description)/src/local_costmap_params.yaml" command="load" />
<rosparam file="$(find robot_description)/src/global_costmap_params.yaml" command="load" />
<rosparam file="$(find robot_description)/src/base_local_planner_params.yaml" command="load" />
<remap from="map" to="map" />
</node>
</launch>
4th: robots_nav.launch
<launch>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
</include>
<!-- start the world -->
<node name="spawn_model1" pkg="gazebo_ros" type="spawn_model"
args="-sdf -file $(find robot_description)/urdf/wall.sdf -x 0 -y 0 -z 0 -model wall"/>
<!-- include our robots -->
<include file="$(find robot_description)/launch/robots.launch"/>
<!--Run the map server-->
<node name="map_server ...
Can you please post your launch files?
Why did you delete this question? And why did you post 2 duplicates of it then afterwards?
I don't know why put when I copy the warning msg. it appears only in editing mode. after posting it does not. I though there was a problem. and tried posting it a gain but the same thing happend.
So this question is basically ok? Can you close/delete the other ones? Then I'll undelete this one.
re: disappearing warning msg: you need to format your text propely using the Preformatted Text button (the one with
101010
on it). Otherwise the warning/error msgs get filtered out.I've updated your question text with the correct formatting, but please do it yourself next time.
Hi im having the same issue. Have you fixed the problem?