Problem with navigation move_base [closed]

edit

Hello, I have a problem with navigation in rviz. I have a model P3dx, I want to set goal on the map and my model have to move to this point. I am newbie in ROS, and tutorials don't hel me :/

I use Ubuntu 18.04 and ROS Melodic

I describe, what I done.

1. I done a map thanks gmapping. I have my map in .yaml and png.
2. Run the map - rosrun map_server map_server src/PioneerModel/map.yaml
3. I Open rviz and load the map on topic /map
4. Open node move_base and amcl rosrun move_base move_base / rosrun amcl amcl

After open amcl I got a warning:

[ WARN] [1557425810.906842985, 3433.961000000]: No laser scan received (and thus no pose updates have been published) for 3433.961000 seconds.  Verify that data is being published on the /scan topic.

In rviz I can't load laserscan - error:

Transform [sender=unknown_publisher]
For frame [lms100]: No transform to fixed frame [map]. TF error: [Lookup would require extrapolation into the future. Requested time 4097.345000000 but the latest data is at time 2376.773000000, when looking up transform from frame [lms100] to frame [map]]

I tried to open my navigation node:

#include <ros/ros.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>

typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;

int main(int argc, char **argv)
{
    ros::init(argc, argv, "navigation_goals");

    MoveBaseClient ac("move_base", true);

    while (!ac.waitForServer(ros::Duration(5.0)))
    {
        ROS_INFO("Waiting for the move_base action server");
    }

    move_base_msgs::MoveBaseGoal goal;

    goal.target_pose.header.frame_id = "map";
    goal.target_pose.header.stamp = ros::Time::now();

    goal.target_pose.pose.position.x = 9.8;
    goal.target_pose.pose.position.y = -16.8;
    goal.target_pose.pose.orientation.w = 1.0;
    ROS_INFO("Sending goal: base");
    ac.sendGoal(goal);

    ac.waitForResult();
    if (ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
        ROS_INFO("You have arrived to the charging base");
    else
    {
        ROS_INFO("The base failed for some reason");
    }
    return 0;
}

But I only have Waiting for the move_base action server

I know, that better is use launch file, but now, I want to move my model, next I will be "cleaning".
I Think that error is from load map.yaml on topic /map, but my knowledge about ROS is low and I can't handle with it :/

Thanks in advance!

#EDIT

I had wrong topic send to amcl, so now, amcl node is correct and I have answer:

[ INFO] [1557695476.070436657]: Requesting the map...   
[ INFO] [1557695476.079127924]: Received a 312 X 536 map @ 0.050 m/pix    
[ INFO] [1557695476.099264435]: Initializing likelihood field model; this can take some time on large maps...    
[ INFO] [1557695476.181160845]: Done initializing likelihood field model.

topic tf:

Type: tf2_msgs/TFMessage

Publishers: 
 * /gazebo (http://pawel-X550LC:44491/)
 * /robot_state_publisher (http://pawel-X550LC:42323/)
 * /amcl (http://pawel-X550LC:34617/)
 * /slam_gmapping (http://pawel-X550LC:40877/)

Subscribers: 
 * /rviz_1557694756783817626 (http://pawel-X550LC:44329/)
 * /amcl (http://pawel-X550LC:34617/)
 * /slam_gmapping (http://pawel-X550LC:40877/)
 * /move_base_node (http://pawel-X550LC:44079/)
 * /rviz_1557695649952641928 (http://pawel-X550LC:45149/)

scan:

Type: sensor_msgs/LaserScan

Publishers: 
 * /gazebo (http://pawel-X550LC:44491/)

Subscribers: 
 * /rostopic_11205_1557695085155 (http://pawel-X550LC:34697/)
 * /amcl (http://pawel-X550LC:34617/)
 * /slam_gmapping (http://pawel-X550LC:40877/)
 * /rviz_1557695649952641928 ...