Ask Your Question
1

Could not transform the global plan to the frame of the controller

asked 2018-10-01 02:19:18 -0500

updated 2018-10-01 04:06:18 -0500

Hello,

I am using the husky mobile base with ros kinetic. I am using hector_mapping for getting the map and using move_base for sending simple 2D navigation goal. I additionally tried using the map_server to save the map and use the map with amcl and move_base. I am assuming this is mostly coming from move_base. However In either case whenever I pass a 2D navigation goal. I start receiving:

[ INFO] [1538375948.914403476]: Got new plan
[ERROR] [1538375948.914494414]: Extrapolation Error: Lookup would require extrapolation into the future.  Requested time 1538375948.918941058 but the latest data is at time 1538375948.914756447, when looking up transform from frame [odom] to frame [map]

[ERROR] [1538375948.914534395]: Global Frame: odom Plan Frame size 50: map

[ WARN] [1538375948.914546917]: Could not transform the global plan to the frame of the controller
[ERROR] [1538375948.914558586]: Could not get local plan

I came across couple of posts: like this one . I synced the clock. Here is tf_monitor output:

base_link to odom:

RESULTS: for base_link to odom
Chain is: base_link -> odom
Net delay     avg = -0.0313133: max = 0.0478765

odom to map RESULTS: for odom to map Chain is: odom -> map Net delay avg = -0.0281289: max = 0.000102856

Frames:

All Broadcasters:
Node: unknown_publisher 85.9467 Hz, Average Delay: -0.00285203 Max Delay: 0.339757
Node: unknown_publisher(static) 1e+08 Hz, Average Delay: 0 Max Delay: 0

base_link to map

RESULTS: for base_link to map
Chain is: base_link -> odom -> map
Net delay     avg = -0.0273669: max = 0
Frames:
Frame: base_link published by unknown_publisher Average Delay: 0.00281878 Max Delay: 0.0196072

Also attached is the tf tree for move_base and amcl.tf_tree rqt_graph

costmap_common.yaml

footprint: [[-0.5, -0.33], [-0.5, 0.33], [0.5, 0.33], [0.5, -0.33]]
footprint_padding: 0.01

robot_base_frame: base_link
update_frequency: 4.0
publish_frequency: 3.0
transform_tolerance: 0.5

resolution: 0.05

obstacle_range: 1.5
raytrace_range: 6.0

#layer definitions
static:
    map_topic: /map
    subscribe_to_updates: true

obstacles_laser:
    observation_sources: laser
    laser: {data_type: LaserScan, clearing: true, marking: true, topic: /r2000_node/scan, inf_is_valid: true}

inflation:
    inflation_radius: 1.0
cribe_to_updates: true

obstacles_laser:
    observation_sources: laser
    laser: {data_type: LaserScan, clearing: true, marking: true, topic: /r2000_node/scan, inf_is_valid: true}

inflation:
    inflation_radius: 1.0

I have not changed much in the other config files that are under husky_navigation.

Any suggestion is greatly appreciated

edit retag flag offensive close merge delete

Comments

I don't think that this is the reason for your error but obstacle_layer is misspelt as obstacles_laser in costmap_common.yaml. And the section is repeated twice.

Subodh Malgonde gravatar imageSubodh Malgonde ( 2018-10-30 04:28:51 -0500 )edit

Also, were you able to figure this one out? I have been struggling with this for the past 3 days.

Subodh Malgonde gravatar imageSubodh Malgonde ( 2018-10-30 04:28:56 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
1

answered 2018-11-01 00:56:55 -0500

Subodh Malgonde gravatar image

updated 2018-11-04 06:03:52 -0500

I was also getting the "Extrapolation into the future" errors when using move_base with amcl. I switched to a faster localization package, MIT's Particle Filter, and it fixed these errors for me.

EDIT: I just realized that the faster localization package did not fix these errors for me. I made one more change along with using another localization package. I set the global_frame of local_costmap_params.yaml to map, earlier it was set to odom. This fixed these errors. No matter what localization package I use, if I set global_frame to odom then I get these errors.

edit flag offensive delete link more

Comments

@Subodh Malgonde I also had this issue and changed to map and it worked. But is this correct?

stevemartin gravatar imagestevemartin ( 2019-01-22 05:00:35 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

3 followers

Stats

Asked: 2018-10-01 02:19:18 -0500

Seen: 447 times

Last updated: Nov 04 '18