Transform data too old when converting from map to odom in nav2_straightline_planner

asked 2021-04-12 00:42:12 -0500

root-robot gravatar image

Bug report

I was trying to use nav2_straightline_planner as mentioned here: https://navigation.ros.org/plugin_tut...

Required Info:

Operating System: ubuntu20.04

ROS2 Version: foxy

Version or commit hash: a1028c5

Error Log:

[controller_server-4] [INFO] [1617794494.106441780] [controller_server]: Passing new path to controller.
[controller_server-4] [ERROR] [1617794494.107058570] [tf_help]: Transform data too old when converting from map to odom
[controller_server-4] [ERROR] [1617794494.107080741] [tf_help]: Data time: 1617794473s 481323259ns, Transform time: 826s 621000000ns
[controller_server-4] [INFO] [1617794495.106504024] [controller_server]: Passing new path to controller.
[controller_server-4] [ERROR] [1617794495.106999333] [tf_help]: Transform data too old when converting from map to odom
[controller_server-4] [ERROR] [1617794495.107018282] [tf_help]: Data time: 1617794473s 481323259ns, Transform time: 827s 521000000ns
[controller_server-4] [INFO] [1617794496.106503821] [controller_server]: Passing new path to controller.
[controller_server-4] [ERROR] [1617794496.106976139] [tf_help]: Transform data too old when converting from map to odom
[controller_server-4] [ERROR] [1617794496.106996291] [tf_help]: Data time: 1617794473s 481323259ns, Transform time: 828s 621000000ns
[controller_server-4] [INFO] [1617794497.306577073] [controller_server]: Passing new path to controller.
[controller_server-4] [ERROR] [1617794497.307159186] [tf_help]: Transform data too old when converting from map to odom
[controller_server-4] [ERROR] [1617794497.307185101] [tf_help]: Data time: 1617794473s 481323259ns, Transform time: 829s 721000000ns
[controller_server-4] [INFO] [1617794498.306491576] [controller_server]: Passing new path to controller.
[controller_server-4] [ERROR] [1617794498.306999256] [tf_help]: Transform data too old when converting from map to odom
[controller_server-4] [ERROR] [1617794498.307018059] [tf_help]: Data time: 1617794473s 481323259ns, Transform time: 830s 721000000ns
[controller_server-4] [INFO] [1617794499.306503259] [controller_server]: Passing new path to controller.
[controller_server-4] [ERROR] [1617794499.307099119] [tf_help]: Transform data too old when converting from map to odom
[controller_server-4] [ERROR] [1617794499.307125979] [tf_help]: Data time: 1617794473s 481323259ns, Transform time: 831s 721000000ns
[controller_server-4] [INFO] [1617794500.306443555] [controller_server]: Passing new path to controller.
[controller_server-4] [ERROR] [1617794500.307062602] [tf_help]: Transform data too old when converting from map to odom
[controller_server-4] [ERROR] [1617794500.307088974] [tf_help]: Data time: 1617794473s 481323259ns, Transform time: 832s 721000000ns
[controller_server-4] [INFO] [1617794501.306475765] [controller_server]: Passing new path to controller.
[controller_server-4] [ERROR] [1617794501.307010382] [tf_help]: Transform data too old when converting from map to odom

Current Behaviour:

When visualising on rviz2 the planner plans perfectly and also the controller follows the path correctly, but when the bot reaches the end of path neither the controller nor the bt_navigator shows the message "Navigation Succeded " and hence the bot never successfully completes its navigation and keeps on trying to reach the goal.

Ideal Behaviour:

Bot successfully completes its navigation task and [tf_help] error should not come.

Here is my navigation2.yaml file:

amcl:
  ros__parameters:
    use_sim_time: False
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 10.0
    laser_min_range: 0.22
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "differential"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0  
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05
    scan_topic ...
(more)
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