ROS Navigation stack setup (Costmap2DROS transform timeout. Current time: 560.5860, global_pose stamp: 0.0000, tolerance: 0.3000)

asked 2019-11-12 02:06:38 -0600

Irudhaya gravatar image

I am currently working in four wheeled mecanum robot. So, to start with the navigation I created the simulation robot that has been described with simple geometric shapes.

The URDF file of the robot is the following,

<robot name="ROSBOT">

<gazebo>
    <plugin name="mecanum_drive" filename="libgazebo_ros_planar_move.so">
      <commandTopic>cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
      <odometryRate>50.0</odometryRate>
      <robotBaseFrame>base_footprint</robotBaseFrame>
      <publishTF>false</publishTF>
    </plugin>
 </gazebo>

<gazebo reference="laser">
    <sensor type="ray" name="lds_lfcd_sensor">
      <pose>
        <x>0.0</x>
        <y>0.0</y>
        <z>0.0</z>
        <r>0.0</r>
        <p>0.0</p>
        <y>0.0</y>
      </pose>
      <visualize>true</visualize>
      <update_rate>50</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>360</samples>
            <resolution>1</resolution>
            <min_angle>0.0</min_angle>
            <max_angle>6.28319</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.120</min>
          <max>3.5</max>
          <resolution>0.015</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
        <topicName>scan</topicName>
        <frameName>laser</frameName>
      </plugin>
    </sensor>
  </gazebo>
<gazebo reference="base_link">
    <material>Gazebo/Yellow</material>
</gazebo>

<gazebo reference="front_right_wheel_link">
    <material>Gazebo/Green</material>
    <mu1 value="0.1"/>
    <mu2 value="0."/>
    <kp value="50000.0" />
    <kd value="10.0" />
    <fdir1 value="1 0 0"/>
    <minDepth>0.001</minDepth>
    <maxVel>0.1</maxVel>  
</gazebo>

<gazebo reference="front_left_wheel_link">
    <material>Gazebo/Green</material>
    <mu1 value="0.1"/>
    <mu2 value="0."/>
    <kp value="50000.0" />
    <kd value="10.0" />
    <fdir1 value="1 0 0"/>
    <minDepth>0.001</minDepth>
    <maxVel>0.1</maxVel>  
</gazebo>

<gazebo reference="back_right_wheel_link">
    <material>Gazebo/Green</material>
    <mu1 value="0.1"/>
    <mu2 value="0."/>
    <kp value="50000.0" />
    <kd value="10.0" />
    <fdir1 value="1 0 0"/>
    <minDepth>0.001</minDepth>
    <maxVel>0.1</maxVel>  
</gazebo>

<gazebo reference="back_left_wheel_link">
    <material>Gazebo/Green</material>
    <mu1 value="0.1"/>
    <mu2 value="0."/>
    <kp value="50000.0" />
    <kd value="10.0" />
    <fdir1 value="1 0 0"/>
    <minDepth>0.001</minDepth>
    <maxVel>0.1</maxVel>  
</gazebo>

    <link name="map"/>
    <link name="odom"/>

    <joint name="map_odom" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="map"/>
        <child link="odom"/>
    </joint>

    <link name="base_footprint"/>

<joint name="odom_base_footprint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="odom"/>
        <child link="base_footprint"/>
    </joint>

    <material name="yellow">
        <color rgba="0 1 1 1"/>
    </material>

    <material name="green">
        <color rgba="0 1 0 1"/>
    </material>

    <link name="base_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <box size="0.45 0.30 0.05"/>
            </geometry>
            <material name="yellow"/>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <box size="0.45 0.30 0.05"/>
            </geometry>
        </collision>
        <inertial>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <mass value="2.6"/>
            <inertia ixx="0.020041666666666666" ixy="0.0 ...
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