Error with robot localization and global costmap
I am trying to make the husky robot automatically explore a map with the explore_lite package. I use melodic on 18.04 and the melodic-devel branches of each package. In new terminals, running source ~/husky_ws/devel/setup.bash in each, I command:
roslaunch husky_gazebo husky_playpen.launch
roslaunch husky_viz view_robot.launch
roslaunch husky_navigation gmapping.launch
roslaunch explore_lite explore.launch
rosrun move_base move_base
But the robot is not moving at all. I believe the error is in the move_base. In the terminal where i rosrun move_base, I am presented with the following errors:
[ WARN] [1593544033.915079325, 1332.320000000]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 1332.32 timeout was 0.1.
[ WARN] [1593544034.006702075, 1332.410000000]: global_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters
[ INFO] [1593544034.010755084, 1332.410000000]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1593544034.015935843, 1332.420000000]: Subscribed to Topics:
[ INFO] [1593544034.025307642, 1332.430000000]: global_costmap: Using plugin "inflation_layer"
[ WARN] [1593544034.057914201, 1332.460000000]: local_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters
[ INFO] [1593544034.061554747, 1332.460000000]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1593544034.063402066, 1332.460000000]: Subscribed to Topics:
[ INFO] [1593544034.069645113, 1332.470000000]: local_costmap: Using plugin "inflation_layer"
[ INFO] [1593544034.099377919, 1332.500000000]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1593544034.103176506, 1332.500000000]: Sim period is set to 0.05
[ WARN] [1593544034.108479008, 1332.510000000]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settings robust against changes of costmap resolution.
[ INFO] [1593544034.300935520, 1332.700000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1593544034.305790806, 1332.710000000]: Recovery behavior will clear layer 'obstacles'
Then it rapidly prints the following error over and over again:
The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?
The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?
The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?
The robot is centrally located on the map, and I even removed a nearby obstacle so it has room to move around. Any direction with this is greatly appreciated!