Hi there,

I am trying to get the movebase node running on my computer. But it will not work. My costmaps are either empty or mostly not being published. Actually nothing really happens besides that I see topics of movebase getting published.

The whole setup consists of an opencv image processing node which computes an obstacle map and a kind of global map out of depth pictures from a bag file (originally from an IntelRealSense D435), and another node who transforms my base_link coordinate frame with odometry information from a T265 tracking camera (but also played back from bag file) and publishes odometry information. No localization with data from lasers or pointclouds, no amcl.

I see that this setup does not meet one hardware requirement of ros navigation which is that you have to have a laser or another data source for localization but I think this should not be the problem.

First my tf tree.

So, when I start the movebase node I get the following warnings. To this time the odometry topic published with 30 Hz. baselink (with odom as the parent frame) gets transformed at the same frequency.

[ WARN] [1571154321.896441087]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
[ WARN] [1571154322.796256916]: Costmap2DROS transform timeout. Current time: 1571154322.7962, global_pose stamp: 0.0000, tolerance: 1.0000
[ WARN] [1571154323.796266111]: Costmap2DROS transform timeout. Current time: 1571154323.7962, global_pose stamp: 0.0000, tolerance: 1.0000
[ WARN] [1571154325.296309381]: Costmap2DROS transform timeout. Current time: 1571154325.2962, global_pose stamp: 0.0000, tolerance: 1.0000
[ WARN] [1571154326.796244495]: Costmap2DROS transform timeout. Current time: 1571154326.7962, global_pose stamp: 0.0000, tolerance: 1.0000
[ WARN] [1571154327.796246519]: Costmap2DROS transform timeout. Current time: 1571154327.7962, global_pose stamp: 0.0000, tolerance: 1.0000
[ WARN] [1571154328.796254528]: Costmap2DROS transform timeout. Current time: 1571154328.7962, global_pose stamp: 0.0000, tolerance: 1.0000
[ WARN] [1571154329.796265650]: Costmap2DROS transform timeout. Current time: 1571154329.7962, global_pose stamp: 0.0000, tolerance: 1.0000
[ WARN] [1571154330.796270375]: Costmap2DROS transform timeout. Current time: 1571154330.7962, global_pose stamp: 0.0000, tolerance: 1.0000

I assume they cause that for example I see no costmaps, no footprint in Rviz.

Because I have read some articles about the problem here I also checked my tf publishing delays and frequencies. All frames except base_link are static transformations. The static transformations are only done once when the image processing node starts. Here is an excerpt from the monitor.

Frames:
Frame: base_footprint published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: base_link published by unknown_publisher Average Delay: 0.000179629 Max Delay: 0.00141772
Frame: d435_color_optical_frame published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: d435_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: map published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: odom published by unknown_publisher(static) Average Delay: 0 Max Delay: 0
Frame: t265_link published by unknown_publisher(static) Average Delay: 0 Max Delay: 0

All Broadcasters:
Node: unknown_publisher 30.0812 Hz, Average Delay: 0.00018012 Max Delay: 0.00141772
Node: unknown_publisher(static) 9467.95 Hz, Average Delay: 0 Max Delay: 0

Because I have read other posts with the same problem I think my tf delay is good. But I am not sure if the navigation stack is okay with only the base_link being transformed dynamically.

Please tell me how to get this problem fixed. Where could be the problem? And please tell me what other information about my system you will need!

Thank you very much, Julian