turtlebot01/map does not exist when running amcl_demo.launch for two turtlebots

asked 2019-02-08 12:51:01 -0500

txia0619s gravatar image

I am using Ubuntu14.04 and ROS Indigo to work on two turtlebots navigation. The way I configure the network is to run master_discovery_fkie and master_sync_fkie on each computer. Now I can see topics and services published from each computer.

Then I run roslaunch turtlebot_bringup minimal.launch and roslaunch turtlebot_navigation amcl_demo.launch map_file:=... on turtlebot01. The minimal.launch seems working but I am getting an error message when running amcl_demo:

[ WARN] [1549645522.472822603]: Timed out waiting for transform from base_footprint to turtlebot01/map to become available before running costmap, tf error: canTransform: target_frame turtlebot01/map does not exist.. canTransform returned after 0.100288 timeout was 0.1.

Here I paste minimal.launch, amcl_demo.launch and move_base.launch.xml

My minimal.launch:

<group ns="turtlebot01">
  <param name="tf_prefix" value="turtlebot01"></param>
  <!-- Turtlebot -->
  <arg name="base"              default="$(env TURTLEBOT_BASE)"         doc="mobile base type [create, roomba]"/>
  <arg name="battery"           default="$(env TURTLEBOT_BATTERY)"      doc="kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels." />
  <arg name="stacks"            default="$(env TURTLEBOT_STACKS)"       doc="stack type displayed in visualisation/simulation [circles, hexagons]"/>
  <arg name="3d_sensor"         default="$(env TURTLEBOT_3D_SENSOR)"    doc="3d sensor types [kinect, asux_xtion_pro]"/>
  <arg name="simulation"        default="$(env TURTLEBOT_SIMULATION)"   doc="set flags to indicate this turtle is run in simulation mode."/>
  <arg name="serialport"        default="$(env TURTLEBOT_SERIAL_PORT)"  doc="used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]"/>
  <arg name="robot_name"        default="$(env TURTLEBOT_NAME)"         doc="used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc."/>
  <arg name="robot_type"        default="$(env TURTLEBOT_TYPE)"         doc="just in case you are considering a 'variant' and want to make use of this."/>

  <param name="/use_sim_time" value="$(arg simulation)"/>

  <include file="$(find turtlebot_bringup)/launch/includes/robot.launch.xml">
    <arg name="base" value="$(arg base)" />
    <arg name="stacks" value="$(arg stacks)" />
    <arg name="3d_sensor" value="$(arg 3d_sensor)" />
  <include file="$(find turtlebot_bringup)/launch/includes/mobile_base.launch.xml">
    <arg name="base" value="$(arg base)" />
    <arg name="serialport" value="$(arg serialport)" />
  <include file="$(find turtlebot_bringup)/launch/includes/netbook.launch.xml">
    <arg name="battery" value="$(arg battery)" />

  <!-- Rapp Manager -->
  <arg name="rapp_auto_installation"            default="false"  doc="automatically install rapps from the web (not typically used)"/> <!-- http://wiki.ros.org/rocon_app_manager/Tutorials/indigo/Automatic Rapp Installation -->
  <arg name="rapp_auto_start"                   default=""       doc="pick an app to autostart, e.g. 'rocon_apps/talker'"/>
  <arg name="rapp_package_whitelist"            default="$(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)" doc="a list of catkin packages that provide rapps to be loaded by the app manager."/>
  <arg name="rapp_package_blacklist"            default="$(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)" doc="a list of catkin packages to blacklist from providing rapps."/>
  <arg name="rapp_preferred_configuration_file" default="$(find turtlebot_bringup)/param/preferred_rapp.yaml" doc="a configuration of preferred rapps"/>
  <arg name="robot_icon"                        default="turtlebot_bringup/turtlebot2.png"        doc="passed to user interfaces to socialise the turtlebot's appearance"/>
  <arg name="rapp_verbose"                      default="true"   doc="show verbose output from running apps (aka roslaunch --screen)"/>

  <!-- ***************************** Rocon Master Info ************************** -->
  <arg name="robot_description"                 default="Kick-ass ROS turtle"/>

  <!-- Capabilities -->
  <arg name="capabilities"                      default="true" doc="start and register an ...
edit retag flag offensive close merge delete