Costmap2DROS transform timeout. Current time: 1.0210, global_pose stamp: 0.0000, tolerance: 0.5000

asked 2021-03-08 08:16:24 -0500

offtaste gravatar image

Hello, first let me say, that this error is of course not unique and i tried nearly all of the numerous hints i found here and in other forums.

I am trying to use the teb_local_planner with a carlike-robot, but I need to use gazebo with GPS simulation instead of the ros-stage simulation with AMCL.

So in RVIZ i get the message, that global and local costmap are not receiving a map, which fits to the error.

 [INFO] [1615145474.783383, 0.594000]: Loading controller: swerve_controller
        [WARN] [1615145474.787266, 0.596000]: heading not yet received
                                                                      [WARN] [1615145474.796941, 0.599000]: heading not yet received
                                                    [ WARN] [1615145474.843092297, 0.613000000]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
                    [ WARN] [1615145474.853544668, 0.617000000]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
                                                                  [ INFO] [1615145474.860873448, 0.620000000]: global_costmap: Using plugin "static_layer"
                                                                          [ INFO] [1615145474.905840959, 0.644000000]: Requesting the map...
                                                            [ INFO] [1615145474.923638758, 0.656000000]: Controller state will be published at 50Hz.
                                                                    [ INFO] [1615145474.927562794, 0.657000000]: Velocity commands will be considered old if they are older than 5s.
                    [ INFO] [1615145474.938281821, 0.662000000]: Base frame_id set to body
          [ INFO] [1615145474.941507534, 0.664000000]: Publishing to tf is disabled
   [ INFO] [1615145474.988495704, 0.686000000]: Some geometric parameters are not provided in the config file.Parsing from URDF!
                                                [ INFO] [1615145475.014001171, 0.700000000]: Odometry params : track 0.992, wheel radius 0.24, wheel base 0.8, wheel steering offset 0.191
                          [ INFO] [1615145475.047899247, 0.713000000]: Adding LF wheel with joint name: wheel_lf_joint, RF wheel with joint name: wheel_rf_joint, LH wheel with joint name: wheel_lh_joint, RH wheel with joint name: wheel_rh_joint
    [ INFO] [1615145475.049228544, 0.714000000]: Adding LF steering with joint name: leg_lf_joint, RF steering with joint name: leg_rf_joint, LH steering with joint name: leg_lh_joint, RH steering with joint name: leg_rh_joint
                                                                  [INFO] [1615145475.070940, 0.721000]: Controller Spawner: Loaded controllers: joint_state_controller, swerve_controller
                         [INFO] [1615145475.114928, 0.734000]: Started controllers: joint_state_controller, swerve_controller
                                             [ INFO] [1615145475.154315546, 0.756000000]: Resizing costmap to 788 X 321 at 0.200000 m/pix
                                                         [ INFO] [1615145475.362198142, 0.853000000]: Received a 788 X 321 map at 0.200000 m/pix
                                                                [ INFO] [1615145475.371455674, 0.859000000]: global_costmap: Using plugin "obstacle_layer"
                                                                          [ INFO] [1615145475.381234107, 0.866000000]:     Subscribed to Topics: laser_scan_sensor
  [ INFO] [1615145475.480182212, 0.922000000]: global_costmap: Using plugin "inflation_layer"
             [ WARN] [1615145475.705353722, 1.021000000]: Costmap2DROS transform timeout. Current time: 1.0210, global_pose stamp: 0.0000, tolerance: 0.5000
                                                                           [ WARN] [1615145475.762495939, 1.054000000]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
                                          [ WARN] [1615145475.764276518, 1.054000000]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
       [ INFO] [1615145475.771441181, 1.056000000]: local_costmap: Using plugin "static_layer"
              [ INFO] [1615145475.788734963, 1.069000000]: Requesting the map...
[ WARN] [1615145475.799362653, 1.073000000]: Could not get robot pose, cancelling reconfiguration
                 [ INFO] [1615145475.799826190, 1.073000000]: Resizing static layer to 788 X 321 at 0.200000 m/pix
                                  [ INFO] [1615145476.018285015, 1.176000000]: Received a 788 X 321 map at 0.200000 m/pix
                                         [ INFO] [1615145476.066187020, 1.196000000]: local_costmap: Using plugin "obstacle_layer"
                                                  [ INFO] [1615145476.089338139, 1.205000000 ...
(more)
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Comments

Did you solve it ?

tomkimsour gravatar image tomkimsour  ( 2021-05-10 07:33:43 -0500 )edit
1

Yes I did. It was an absolutely dumb thing. As you see, the global frame of my costmap was map and it must be odom, because reference point in my workplace here is odom. That‘s why the costmap couldn’t be loaded...

offtaste gravatar image offtaste  ( 2021-05-10 08:35:20 -0500 )edit

Nice, it removed my warnings ! Do you have any explanation on why it should be odom instead of map ? I had the same problem but one thing that on Rviz, now odom frame is moving relatively to map frame and thus my robot is not on the place it needs to be. Did you encounter this problem ? Maybe i should open a new topic

tomkimsour gravatar image tomkimsour  ( 2021-05-11 03:45:01 -0500 )edit