i am getting error

Can you please update your question wit a copy and paste of the error?

i have updated my question. Can you please have a look and hopefully help me with some solution

Hi.

[ WARN] [1570234277.210068930]: Could not get robot pose, cancelling reconfiguration

will come up until the robot initial pose has been set. It's not serious unless you have set the initial pose and are still seeing it. Note that it is not a error. It is a warning.

You can search for many other questions here for the time stamp question.

If you haven't yet gone through the entire tutorial for the Navigation Stack, I strongly suggest you take the time to do so.

When I start up nav stack I get serveral warnings as different nodes get started and things get set up. If you have a specific question about something not working, it will be easier to help.

I suggest you add your TF tree to the question to allow us to have better idea of what you're working on.

So i guess i was missing state publisher in robot_localization. I added this code in my ekf_template file, and now i am not getting the above warning, instead i get this.

[ WARN] [1570390223.076345613]: Costmap2DROS transform timeout. Current time: 1570390223.0762, global_pose stamp: 1570211809.1178, tolerance: 0.5000

This is what i added.

initial_state: [1.5,  2.0,  0.0,
                0.0,  0.0,  1.0,
                0.0,  0.0,  0.0,
                0.0,  0.0,  0.0,
                0.0,  0.0,  0.0]

i have provided my tf tree in updated question. I want to move my robot using move_base while locating it by the information provided by robot_localization. What should i do? I am unable to provide my tf tree as it requires 5 points and i am new on here. But from odom, it goes to base_footprint (broadcaster: turtlebot3_core) and base_link(broad caster: ekf_se), and base_footprint ends there while base_link goes to wheels and base scan and all others

@Ahmed1212 I upvoted your question so that you have enough points to upload a picture of your tf tree.

Thanks. I Have updated my question

I dont see the map frame being generated at all. Also 0.0 resolution for the local costmap does not make any sense. To begin with, I would suggest using odom as global_frame for both local and global costmaps and set some reasonable resolution (0.1-0.5) for them both. Also can you post your costmap common parameters where the plugins/layers are declared

I have changed my resolution to 0.5 and also odom as global frame in both,but still of no good. Below is my costmap common parameters. I am not declaring any plugins. How and what should i do?

obstacle_range: 0.5
raytrace_range: 0.5

footprint: [[-0.105, -0.105], [-0.105, 0.105], [0.041, 0.105], [0.041, -0.105]]
#robot_radius: 0.105

inflation_radius: 1.0
cost_scaling_factor: 3.0

how do you launch the map?

add the static map layer in you commom costmap params:

plugins: 
 - {name: static_layer,            type: "costmap_2d::StaticLayer"}

static_layer:
    map_topic: /map

      <arg name="map_file" default="$(find provide_map)/maps/map.yaml"/>

      <!-- Run the map server -->
      <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" >
        <param name="frame_id" value="odom"/>
     </node>

    </launch>

One more thing, this is launch file of robot_localization. DO i need to put odom in here?

<launch>
  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_se" clear_params="true">
    <rosparam command="load" file="$(find robot_localization)/params/ekf_template.yaml" />

    <!--  Placeholder for output topic remapping
    <remap from="odometry/filtered" to=""/>
    <remap from="accel/filtered" to=""/>
    -->

  </node>
</launch>

Depends what you have in ekf_template.yaml? Does it contain the frame params and sensor params?
But note that this is already diverging from the initial question. I would suggest opening a new question if you have localization related problem. Once you have a reasonable localization running, then I would go with the navigation part.

Yes i have localizing running. you can ignore this, this was just for a confirmation. My launch file for map is shared. Should i share my navigation and move_base launch files also?

In addition to the previous stated things, try increasing the transform tolerance in costmap common params. For example:

transform_tolerance: 1.0

Although I am not sure that it will help since I just noticed the difference in the timestamps

It looks like 3 of your transforms aren't getting published given most recent transform = 0. Are you using simulated time?

Did you ever figure this out? I haven't gone over the comments, but if you don't have a global pose source from a package that does scan-to-map matching (like amcl), your pose estimate will drift without bound and become unusable for nav.