Unable to move my turtlebot in real world with a map

asked 2019-09-23 08:00:15 -0600

ibrahima gravatar image

updated 2019-09-24 04:02:37 -0600

I am trying to perform an Autonomous Driving of Learn Turtlebot and ROS tutorials with ros-kinetic, Ubuntu 16.04 LTS and turtlebot2 robot. When I launch the following command:

roslaunch turtlebot_navigation amcl_demo.launch

I am getting these type of warning messages:

[ WARN] [1569227690.943819776]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100384 timeout was 0.1.

. . .

[WARN] [1569227696.559366311]: The origin for the sensor at (-0.06, 0.03, 0.30) is out of map bounds. So, the costmap cannot raytrace for it.

[ WARN] [1569227769.559617955]: The origin for the sensor at (3.43, 11.21, 0.30) is out of map bounds. So, the costmap cannot raytrace for it.

[ WARN] [1569227770.285242225]: The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?

[ WARN] [1569227770.485473226]: The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?

[ WARN] [1569227770.559867788]: The origin for the sensor at (3.43, 11.21, 0.30) is out of map bounds. So, the costmap cannot raytrace for it.

When I try to give a goal or a waypoint when the robot should move via rviz by following the tutorial, I am getting these message:

[ WARN] [1569227799.437476639]: The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?

[ WARN] [1569227799.559151886]: The origin for the sensor at (3.53, 11.17, 0.30) is out of map bounds. So, the costmap cannot raytrace for it.

[ WARN] [1569227799.637376148]: Rotate recovery behavior started.

[ WARN] [1569227800.559186736]: The origin for the sensor at (3.54, 11.15, 0.30) is out of map bounds. So, the costmap cannot raytrace for it.

[ WARN] [1569227801.559211049]: The origin for the sensor at (3.59, 11.16, 0.30) is out of map bounds. So, the costmap cannot raytrace for it.

[ WARN] [1569227770.685037965]: The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?

[ WARN] [1569227770.885229702]: The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?.

The turtlebot firstly performs a rotation recovery with failed to found the goal waypoint.

My map's yaml file output is the following:

image: my_map.pgm

resolution: 0.025000

origin: [7.472, -9.8388, 7.0]

negate: 0

occupied_thresh: 0.65

free_thresh: 0.196

Please, did someone have any idea how to overcome this issues?

This is my first experience with real robot turtlebot2.

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