Costmap2DROS transform time out

asked 2019-11-05 05:47:40 -0600

Crowdeal gravatar image

updated 2019-11-06 04:45:02 -0600

Hello

I am new to ros

sorry for my bad english

I use rplidar and gmapping to create my map

and I tried to use laser_scan_matcher

when I launch move_base.launch

it will appear a warn

[ WARN] [1572951735.883557597]: Costmap2DROS transform timeout. Current time: 1572951735.8829, global_pose stamp: 1572951735.5423, tolerance: 0.3000
[ WARN] [1572951735.929999953]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1572951737.083158384]: Costmap2DROS transform timeout. Current time: 1572951737.0828, global_pose stamp: 1572951736.7592, tolerance: 0.3000
[ WARN] [1572951737.130950626]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1572951738.130503267]: Costmap2DROS transform timeout. Current time: 1572951738.1301, global_pose stamp: 1572951737.7905, tolerance: 0.3000
[ WARN] [1572951738.131358474]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1572951739.330102289]: Costmap2DROS transform timeout. Current time: 1572951739.3297, global_pose stamp: 1572951738.9984, tolerance: 0.3000
[ WARN] [1572951739.330635466]: Could not get robot pose, cancelling reconfiguration

it's my costmap_param.yaml

    obstacle_range: 2.5
    raytrace_range: 3.0
    footprint: [[9, 4.5], [9, -4.5],[-9, 4.5],[-9, -4.5]]
    #robot_radius: ir_of_robot
    inflation_radius: 0.55

    observation_sources: laser_scan_sensor point_cloud_sensor

    laser_scan_sensor: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true}

    point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing: true}


    plugins: 
        - {name: static_map,       type: "costmap_2d::StaticLayer"}
   - {name: obstacles,        type: "costmap_2d::VoxelLayer"}

rqt_graph

https://imgur.com/tEvGGyi

https://imgur.com/U6mLyI5

tf_tree

https://imgur.com/om6Ka7e

How can I solve it?

Please help me.

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