nav2_planner not working

asked 2020-02-11 04:07:03 -0600

lorenzo gravatar image

I am correctly running rviz2, nav2_map_server and correctly visualizing the map. I want now to use a nav2_planner to see the path built. However it happens that when I run the node and activate it publish reapeatedly this:

[INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist. canTransform returned after 1.00296 timeout was 1.
Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
         at line 133 in /home/jenkins-agent/workspace/ci_packaging_linux/ws/src/ros2/geometry2/tf2/src/buffer_core.cpp

Here the terminals where i run the nav2_util and nav2_planner:

Terminal 1:

lorenzoteo@lorenzoteo-HP-ZBook-15v-G5:~$ ros2 run nav2_util lifecycle_bringup nav2_planner

Terminal 2:

lorenzoteo@lorenzoteo-HP-ZBook-15v-G5:~$ ros2 run nav2_planner planner_server
[INFO] [nav2_planner]: Creating
[INFO] [global_costmap.global_costmap]: Creating Costmap
[INFO] [nav2_planner]: Configuring
[INFO] [global_costmap.global_costmap]: Configuring
[INFO] [global_costmap.global_costmap]: Using plugin "static_layer"
[INFO] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[INFO] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[INFO] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[INFO] [global_costmap.global_costmap]: Subscribed to Topics: 
[INFO] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[INFO] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[INFO] [global_costmap.global_costmap]: Initializing inflation layer!
[INFO] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[INFO] [nav2_planner]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[INFO] [nav2_planner]: Configuring plugin GridBased of type NavfnPlanner
[INFO] [nav2_planner]: Activating
[INFO] [global_costmap.global_costmap]: Activating
[INFO] [global_costmap.global_costmap]: Checking transform
Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
         at line 133 in /home/jenkins-agent/workspace/ci_packaging_linux/ws/src/ros2/geometry2/tf2/src/buffer_core.cpp
[INFO] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 1006 X 689 at 0.200000 m/pix
Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
         at line 133 in /home/jenkins-agent/workspace/ci_packaging_linux/ws/src/ros2/geometry2/tf2/src/buffer_core.cpp
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Comments

Did you give a starting pose estimate for there to be a complete TF tree?

stevemacenski gravatar imagestevemacenski ( 2020-02-11 13:26:17 -0600 )edit

What do you mean exactly? I run these two following nodes for tf transforms:

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 world map

ros2 run tf2_ros static_transform_publisher 10 10 0 0 0 0 map base_link

Not enough?

Edit: I want to give the starting pose estimate through rviz.

lorenzo gravatar imagelorenzo ( 2020-02-12 01:35:06 -0600 )edit