Navigation Stack - could not get robot pose

asked 2019-02-11 23:40:34 -0500

IvyKK gravatar image

updated 2019-02-12 02:56:08 -0500

Hi there, I just tried to use the navigation stack package. I have a lidar, formed a map (though in poor quality) with hector map, I followed this and put the map in for navigation. except for the odom, I tried with laser_scan_matcher (this).

However, I got these while roslaunch the move_base.launch, and the pose of the robot/ costmap local could not be found...

[ WARN] [1549943317.338789222]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
[ INFO] [1549943318.632678731]: Recovery behavior will clear layer obstacles
[ INFO] [1549943318.731042550]: Recovery behavior will clear layer obstacles
[ WARN] [1549943318.891879203]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.4183 seconds
[ WARN] [1549943416.070164221]: Costmap2DROS transform timeout. Current time: 1549943416.0697, global_pose stamp: 1549943415.6726, tolerance: 0.3000
[ WARN] [1549943416.071357157]: Could not get robot pose, cancelling reconfiguration

The robot_configuration.launch:

  <node name="ydlidar_node"  pkg="ydlidar"  type="ydlidar_node" output="screen">
    <param name="port"         type="string" value="/dev/ydlidar"/>  
    <param name="baudrate"     type="int"    value="115200"/>
    <param name="frame_id"     type="string" value="base_laser"/>
    <param name="angle_fixed"  type="bool"   value="true"/>
    <param name="low_exposure"  type="bool"   value="false"/>
    <param name="heartbeat"    type="bool"   value="false"/>
    <param name="resolution_fixed"    type="bool"   value="true"/>
    <param name="angle_min"    type="double" value="-180" />
    <param name="angle_max"    type="double" value="0" />
    <param name="range_min"    type="double" value="0.08" />
    <param name="range_max"    type="double" value="16.0" />
    <param name="ignore_array" type="string" value="" />
    <param name="samp_rate"    type="int"    value="9"/>
    <param name="frequency"    type="double" value="7"/>

  <node pkg="tf" type="static_transform_publisher" name="map_to_odom" 
    args="0.0 0.0 0.0 0 0 0.0 /map /odom 40" />
  <node pkg="tf" type="static_transform_publisher" name="odom_to_basefootprint" 
        args="0.0 0.0 0.0 0 0 0.0 /odom /base_footprint 40" />
  <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link"
    args="0.2245 0.0 0.2 0.0 0.0  0.0 /base_footprint /base_link 40" />

    <node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen">
      <param name="base_frame"    value="base_footprint"/>
      <param name="_fixed_frame"  value="map"/>
      <param name="use_imu"       value="false"/>
      <param name="use_odom"      value="false"/>
      <param name="use_vel"       value="false"/>
      <param name="max_iterations" value="10"/>
      <param name="publish_tf"    value="false"/>
      <param name="publish_pose"  value="true"/>

    <node pkg="mobilet_setup_tf" type="tf_broadcaster" name="tf_broadcaster"/>
  <node pkg="rviz" type="rviz" name="rviz1" 
    args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>


and the move_base.launch


   <master auto="start"/>
 <!-- Run the map server --> 
    <node name="map_server" pkg="map_server" type="map_server" args="$(find mobilet_2dnav)/maps/office_map_MoBiLET.yaml"/>

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

   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find mobilet_2dnav)/param/costmap_common_params.yaml" command="load" ns="global_costmap" /> 
    <rosparam file="$(find mobilet_2dnav)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find mobilet_2dnav)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find mobilet_2dnav)/param/global_costmap_params.yaml" command="load" /> 
    <rosparam file="$(find mobilet_2dnav)/param/base_local_planner_params.yaml" command ...
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You'll get that error until you provide the robot pose so make sure you either provide initial pose through RVIZ or do it in code/YAML(there is some way to do it in launch I think but I just use initial pose button in RVIZ).

billy gravatar imagebilly ( 2019-02-12 00:09:15 -0500 )edit

Thanks billy, I have tried with providing the pose, but the tf is not moving accordingly..(tf also fails to move when the lidar moves) I posed to the edit part for the errors and the RVIZ, would you mind looking into it?

IvyKK gravatar imageIvyKK ( 2019-02-12 02:58:19 -0500 )edit