This is my graduation project from college and I can't figure out the problem. I have an environment build specifically for this project and build a map of it with hector SLAM. The goal is for the Mobile robot moving around the static map for specific goal set by Rviz.

UPDATE THE OLD 2 BEHAVIORS ARE NOT HAPPENING ANYMORE: I ADJUSTED LINOROBOT COSTMAPS TO WORK FOR ME AND IT FIXED THOSE 2 ERRORS. HOWEVER, THIS SOLUTION INTRODUCED:

DWA planner failed to produce path

Off Map 1.098, -0.050

Old behaviors:

Rviz behavior Video: Google drive Rviz localization video

Rviz behavior when trying to estimate pose: Google drive estimate pose behavior NOTE: the robot was not in the designed environment when taking this video, this video is just for demonstration

The errors I'm getting: UPDATED

roswtf:

   WARNING The following node subscriptions are unconnected:
 * /amcl:
   * /tf_static
 * /rviz_1542954558890249147:
   * /move_base/TrajectoryPlannerROS/global_plan
   * /move_base/NavfnROS/plan
   * /tf_static
   * /map_updates
   * /move_base/TrajectoryPlannerROS/local_plan
 * /rqt_gui_py_node_27505:
   * /statistics
 * /move_base:
   * /tf_static
   * /move_base/cancel

WARNING Received out-of-date/future transforms:
 * receiving transform from [/amcl] that differed from ROS time by 1.176933497s


Found 1 error(s).

ERROR The following nodes should be connected but aren't:
 * /move_base->/move_base (/move_base/global_costmap/footprint)
 * /move_base->/move_base (/move_base/local_costmap/footprint)

AMCL warning: [ WARN] [1542907954.448988739]: Frameid of map received:'/odom' doesn't match globalframe_id:'map'. This could cause issues with reading published topics FIXED BY MAKING MAP_SERVER FRAME ID TO BE MAP

Rviz Global option's fixed frame: map FIXED BY THE COSTMAP CONFIG Blockquote TF configuration: Tree --> odom --> base_link --> laser --> map

current updated TF configuration: map-->odom-->base_link-->laser

rqt_graph: rqt graph picture

Packages used:

• Rplidar (for the lidar I have)
• motor_hat (for the motor control)
• robotsetuptf (for publishing the tf information)
• robotdrive (for publishing commands for the motorhat)
• differential_drive (for publishing odom, twist commands and the PID controller)
• move_base (costmaps)
• amcl (for localization)
• map_server (to publish the map)

robot launch file:

<launch>

  <rosparam param="ticks_meter">6000</rosparam>
  <include file="$(find rplidar_ros)/launch/rplidar.launch"/>
  <node pkg="robot_setup_wheelencoders" type="rwheel.py" name="rwheel"/>
  <node pkg="robot_setup_wheelencoders" type="lwheel.py" name="lwheel"/>
  <node pkg="differential_drive" type="diff_tf.py" name="diff_tf" output="screen">
     <rosparam param="rate">8.0</rosparam>
     <rosparam param="base_width">0.294</rosparam>
  </node>
  <node pkg="robot_setup_tf" type="tf_broadcaster" name="tf_broadcaster"/>
  <node pkg="motor_hat" type="motor_hat_node" name="driving"/>
  <node pkg="robot_drive" type="robot_drive.py" name="drive_cmd"/>
  <node pkg="differential_drive" type="twist_to_motors.py" name="twist_to_motors" output="screen">
    <rosparam param="base_width">0.294</rosparam>
  </node>
  <node pkg="differential_drive" type="pid_velocity.py" name="lpid_velocity">
      <remap from="wheel" to="lwheel"/>
      <remap from="motor_cmd" to="lmotor_cmd"/>
      <remap from="wheel_vtarget" to="lwheel_vtarget"/>
      <remap from="wheel_vel" to="lwheel_vel"/>
      <rosparam param="Kp">75</rosparam>
      <rosparam param="Ki">148</rosparam>
      <rosparam param="Kd">0</rosparam>
      <rosparam param="out_min">-255</rosparam>
      <rosparam param="out_max">255</rosparam>
      <rosparam param="rate">30</rosparam>
      <rosparam param="timeout_ticks">4</rosparam>
      <rosparam param="rolling_pts">5</rosparam>
  </node>
  <node pkg="differential_drive" type="pid_velocity.py" name="rpid_velocity">
      <remap from="wheel" to="rwheel"/>
      <remap from="motor_cmd" to="rmotor_cmd"/>
      <remap from="wheel_vtarget" to="rwheel_vtarget"/>
      <remap from="wheel_vel" to="rwheel_vel"/>
      <rosparam param="Kp">75</rosparam>
      <rosparam param="Ki">148</rosparam>
      <rosparam param="Kd">0</rosparam>
      <rosparam param="out_min">-255</rosparam>
      <rosparam param="out_max">255</rosparam>
      <rosparam param="rate">30</rosparam>
      <rosparam param="timeout_ticks">4</rosparam>
      <rosparam param="rolling_pts">5</rosparam>
  </node>
  <include file="$(find AVSrobot)/launch/move_base.launch"/>

</launch> 

move_base launch file:

<launch>

  <!-- Run the map server --> 
      <arg name="map_file" default="$(find AVSrobot)/maps/demotest11194.yaml"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" respawn="false">
    <param name="frame_id" value="/odom" />
  </node>

 <!--- Run AMCL --> 
  <include file="$(find amcl)/examples/amcl_AVS.launch" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find AVSrobot)/config/costmap_common_params.yaml" command="load" ns="global_costmap" /> 
    <rosparam file="$(find AVSrobot)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find AVSrobot)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find AVSrobot)/config/global_costmap_params.yaml" command="load" /> 
    <rosparam file="$(find AVSrobot)/config/base_local_planner_params.yaml" command="load" />
  </node>

</launch> 

robotsetuptf:

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

int main(int argc, char** argv)
{
  ros::init(argc, argv, "robot_tf_publisher");
  ros::NodeHandle n;

  ros::Rate r(100);

  tf::TransformBroadcaster broadcaster;

  while(n.ok()){
     //broadcaster.sendTransform(
      //tf::StampedTransform(
        //tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.0, 0.0, 0.0)),
        //ros::Time::now(), "map", "odom"));

     broadcaster.sendTransform(
      tf::StampedTransform(
        tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.0, 0.0, 0.2)),
        ros::Time::now(),"base_link", "laser"));

    r.sleep();
  }
}

Costmaps:

baselocalplanner_params.yaml:

TrajectoryPlannerROS:
  max_vel_x: 0.45
  min_vel_x: 0.1
  max_vel_theta: 1.0
  min_vel_theta: -1.0
  min_in_place_vel_theta: 0.4
  escape_vel: -0.1
  acc_lim_theta: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5
  holonomic_robot: false

  yaw_goal_tolerance: 0.05
  xy_goal_tolerance: 0.10
  latch_xy_goal_tolerance: false

  sim_time: 2
  sim_granularity: 0.10
  angular_sim_granularity: 0.10
  vx_samples: 3
  vtheta_samples: 20

  meter_scoring: true 
  pdist_scale: 0.6
  gdist_scale: 1.0
  occdist_scale: 0.1
  heading_lookahead: 0.325
  heading_scoring: false
  dwa: true
  global_frame_id: odom

  oscillation_reset_dist: 0.30
  prune_plan: true

costmapcommonparams.yaml:

    footprint: [[-0.15,-0.15],[-0.15,0.15], [0.15, 0.15], [0.15,-0.15]]
    obstacle_range: 2.0
    raytrace_range: 2.5
    inflation_radius: 0.3

    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_link
  update_frequency: 5.0
  static_map: true
  transform_tolerance: 0.5

localcostmapparams.yaml:

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 2.0
  height: 2.0
  resolution: 0.05
  transform_tolerance: 0.5

amcl configuration launch file:

<launch>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
  <!-- Publish scans from best pose at a max of 10 Hz -->
  <param name="odom_model_type" value="diff"/>
  <param name="odom_alpha5" value="0.1"/>
  <param name="transform_tolerance" value="0.2" />
  <param name="gui_publish_rate" value="10.0"/>
  <param name="laser_max_beams" value="90"/>
  <param name="min_particles" value="500"/>
  <param name="max_particles" value="5000"/>
  <param name="kld_err" value="0.05"/>
  <param name="kld_z" value="0.99"/>
  <param name="odom_alpha1" value="0.2"/>
  <param name="odom_alpha2" value="0.2"/>
  <!-- translation std dev, m -->
  <param name="odom_alpha3" value="0.8"/>
  <param name="odom_alpha4" value="0.2"/>
  <param name="laser_z_hit" value="0.5"/>
  <param name="laser_z_short" value="0.05"/>
  <param name="laser_z_max" value="0.05"/>
  <param name="laser_z_rand" value="0.5"/>
  <param name="laser_min_range" value="0.15"/>
  <param name="laser_max_range" value="0.4"/>
  <param name="laser_sigma_hit" value="0.2"/>
  <param name="laser_lambda_short" value="0.1"/>
  <param name="laser_lambda_short" value="0.1"/>
  <param name="laser_model_type" value="likelihood_field"/>
  <!-- <param name="laser_model_type" value="beam"/> -->
  <param name="laser_likelihood_max_dist" value="2.0"/>
  <param name="update_min_d" value="0.2"/>
  <param name="update_min_a" value="0.5"/>
  <param name="odom_frame_id" value="odom"/>
  <param name="resample_interval" value="1"/>
  <param name="transform_tolerance" value="0.1"/>
  <param name="recovery_alpha_slow" value="0.001"/>
  <param name="recovery_alpha_fast" value="0.1"/>
</node>
</launch>