Problem with costmap when using mbf_costmap_nav pkg of move_base_flex [closed]

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Hello everyone,

I want to do some tests with move_base pkg and move_base_flex pkg, so I tried first with move_base, no problem at all. And then, with all the same configurations (like configuration for global and local costmap ect), I tried mbf_costmap_nav package, somehow I got several problems, the robot is not at the center of the local costmap anymore.

I tried to modifed some configurations but it doesn't work, finally I added a local_costmap_params.yaml and loaded it in the move_base_flex.launch file, at this time the robot is at the center of the local costmap, but other problems are still there. When I send a move_base_flex/move_base/goal, I got all these:

[ WARN] [1541755691.675555499, 82.320000000]: MessageFilter [target=odom laser ]: Dropped 100.00% of messages so far. Please turn the [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for more information.
[ WARN] [1541697395.339270717, 223.300000000]: The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?
[ WARN] [1541697395.342515415, 223.300000000]: MSG to TF: Quaternion Not Properly Normalized
[ WARN] [1541697522.159419983, 28.100000000]: Costmap2DROS transform timeout. Current time: 28.1000, global_pose stamp: 27.4900, tolerance: 0.5000
Could not get robot pose, cancelling reconfiguration
[ERROR] [1541700210.791474751, 1448.260000000]: ERROR: failed to set start state

My robot couldn't move, even though I re-send a goal manually, it doesn't work:

[ INFO] [1541700210.791507768, 1448.260000000]: [sbpl_lattice_planner] getting start point (0.0182941,-0.012466) goal point (1,1)

I set the action server as: /move_base_flex/move_base, then I send goal using mbf_msgs::MoveBaseGoal mbf_goal.

In fact, I am working on ROSPlan, I tired move_base with rosplan_interface_movebase, it works well. I created an rosplan_interface_movebaseflex, it's similar to rosplan_interface_movebase, just changing the action server name and the goal message type. I think there is no problem with my rosplan interface, just the problem using the mbf_costmap_nav package.

Can anyone help?

Thanks at advance.