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Unable to send UTM move base goals to Rover

asked 2018-12-27 14:38:59 -0500

jawsqb gravatar image

updated 2018-12-28 03:22:15 -0500

gvdhoorn gravatar image


I am attempting to implement a GPS guided rover.

However when I send a UTM goal to /move_base_simple/goal

I get the following issue:

[ WARN] [1545940576.270461738]: MessageFilter [target=odom ]: Discarding message from [/move_base] due to empty frame_id.  This message will only print once.

Followed by repeating:

[ WARN] [1545940576.270723864]: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty

I checked if all my frames transformations were being published and they all seem to be correct, so I am at a loss in finding the source of the empty frame_id error.

Oddly when I send a move base command in the "map" frame_id it works fine.

rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "map"}, pose: {position: {x: 2.0, y: 1.0, z: 0.0}, orientation: {w: 1.0}}}'

Here are my navigation .yaml files:


global_frame: odom
rolling_window: true

width: 10.0
height: 10.0
resolution: 0.05

  - {name: obstacles_laser,           type: "costmap_2d::ObstacleLayer"}
  - {name: inflation,                 type: "costmap_2d::InflationLayer"}


global_frame: map
rolling_window: true
static_map: false
track_unknown_space: true

  - {name: static,                  type: "costmap_2d::StaticLayer"}
  - {name: inflation,               type: "costmap_2d::InflationLayer"}


footprint: [[-0.25, -0.33], [-0.25, 0.33], [0.25, 0.33], [0.25, -0.33]]
footprint_padding: 0.01

robot_base_frame: base_footprint
update_frequency: 1
publish_frequency: 3.0
transform_tolerance: 10
resolution: 0.05

obstacle_range: 5.5
raytrace_range: 6.0

#layer definitions
    map_topic: /map
    subscribe_to_updates: true

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

    inflation_radius: .5

Here is my tf tree:

TF Tree

Let me know if there is anything else that can be provided!

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answered 2018-12-28 00:26:34 -0500

ahendrix gravatar image

It looks like the timestamps on your transform from the map to utm frame on your TF tree are set to 0 instead of the current time. Correcting that may help.

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Thank you for the response!

The map to utm transformation is being published by the navsat node (part of the robot localization package for doing sensor fusion)

How would I go about changing the timestamps?

When I " tf echo /base_link /utm " everything works find and I get valid transforms.

jawsqb gravatar image jawsqb  ( 2018-12-28 08:18:36 -0500 )edit

I'm not sure; the robot localization package doesn't mention anything about timestamps:

ahendrix gravatar image ahendrix  ( 2018-12-28 11:23:10 -0500 )edit

The source code for the indigo version of the navsat_transform_node uses the current time when timestamping the UTM transform:

ahendrix gravatar image ahendrix  ( 2018-12-28 11:23:52 -0500 )edit

The only thing I can think of is if you had the use_sim_time parameter set when you started the navsat_transform_node, but that it wasn't set when you started the other nodes. Maybe check all of your launch files and make sure none of them are setting use_sim_time ?

ahendrix gravatar image ahendrix  ( 2018-12-28 11:26:09 -0500 )edit

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Asked: 2018-12-27 14:38:59 -0500

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Last updated: Dec 28 '18