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Costmap2DROS transform timeout. Current time: 493.0920, global_pose stamp: 492.2210, tolerance: 0.5000

asked 2021-05-11 03:08:04 -0600

tomkimsour gravatar image

updated 2021-05-11 15:13:57 -0600

jayess gravatar image

Hello,

First, I'd like to say that i read other topic that had this error but couldn't find any solution out of the 15 post i read.

I'm trying to do a navigation simulation using gazebo and rviz on ros kinetic and ubuntu 16.04.7.

In my navigation launch file I use 4 nodes which are move_base, amcl, map_server and rviz. Link of the files at the end of the post

The problem is that few seconds after launch I start get warning about the robot position which is apparently not received or outdated. The robot is displayed on rviz but cannot navigate at all.

This bellow is the warnings i get when i start navigation.launch I'm not sure to really understand the warnings.

process[move_base_node-1]: started with pid [11793]
process[map_server-2]: started with pid [11794]
process[amcl-3]: started with pid [11799]
process[rviz-4]: started with pid [11823]
[ INFO] [1620717626.845437836, 478.530000000]: Requesting the map...
[ INFO] [1620717626.851227070, 478.533000000]: Received a 385 X 236 map @ 0.050 m/pix

[ INFO] [1620717626.883492238, 478.545000000]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1620717626.936161327, 478.567000000]: Done initializing likelihood field model.
[ WARN] [1620717639.165987385, 483.610000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1620717651.736227482, 488.710000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ INFO] [1620717660.416085662, 492.269000000]: Using plugin "static_layer"
[ INFO] [1620717660.439320101, 492.277000000]: Requesting the map...
[ INFO] [1620717660.712104740, 492.380000000]: Resizing costmap to 385 X 236 at 0.050000 m/pix
[ INFO] [1620717660.957746166, 492.480000000]: Received a 385 X 236 map at 0.050000 m/pix
[ INFO] [1620717660.971553739, 492.483000000]: Using plugin "inflation_layer"
[ INFO] [1620717661.000677942, 492.494000000]: Using plugin "obstacle_layer"
[ INFO] [1620717661.008311355, 492.497000000]:     Subscribed to Topics: scan2 scan3
[ INFO] [1620717661.302711958, 492.622000000]: Using plugin "obstacle_layer"
[ INFO] [1620717661.311498776, 492.625000000]:     Subscribed to Topics: scan2 scan3
[ INFO] [1620717661.459331030, 492.685000000]: Using plugin "inflation_layer_local"
[ INFO] [1620717661.597994774, 492.743000000]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1620717661.608702179, 492.747000000]: Sim period is set to 0.20
[ WARN] [1620717662.481112605, 493.092000000]: Costmap2DROS transform timeout. Current time: 493.0920, global_pose stamp: 492.2210, tolerance: 0.5000
[ WARN] [1620717664.971351347, 494.092000000]: Costmap2DROS transform timeout. Current time: 494.0920, global_pose stamp: 492.2210, tolerance: 0.5000
[ WARN] [1620717667.382094815, 495.092000000]: Costmap2DROS transform timeout. Current time: 495.0920, global_pose stamp: 492.2210, tolerance: 0.5000
[ WARN] [1620717669.824983820, 496.092000000]: Costmap2DROS transform timeout. Current time: 496.0920, global_pose stamp: 492.2210, tolerance: 0.5000
[ WARN] [1620717672.293558718, 497.092000000]: Costmap2DROS transform timeout. Current time: 497.0920, global_pose stamp: 492.2210, tolerance: 0.5000
[ WARN] [1620717674.831612152, 498.092000000]: Costmap2DROS ...
(more)
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Are the linux time-of-day clocks synchronized on every ROS node? Most people run either systemd-timesyncd or ntp to accomplish this.

Mike Scheutzow gravatar image Mike Scheutzow  ( 2021-09-06 14:25:42 -0600 )edit

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answered 2021-05-11 07:59:16 -0600

You have specified map as the global frame for the global_costmap.

You need to publish map -> base_link transform. You can look at the gmapping package for that.

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That's what i did. But the error keeps appearing. It might be due to the hardware tho because the program works on another computer without errors.

tomkimsour gravatar image tomkimsour  ( 2021-05-18 06:07:49 -0600 )edit

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Asked: 2021-05-11 03:08:04 -0600

Seen: 190 times

Last updated: May 11