Navigation 2: Sensor origin out of map bounds. The costmap can't raytrace for it.
Hi,
I've been trying to get nav2 to run for quite some time and am now facing a problem.
I am using foxy and the the navigation packages released via debian packages.
After launching slam and the base code of my physical robot, I see a map and the robot model https://drive.google.com/file/d/1D2A0...
If I now start nav2 (ros2 launch nav2_bringup navigation_launch.py use_sim_time:=False params_file:=/home/config/nav2_params.yaml) nav2 starts to run and I can also see a global costmap. However, the local costmap is not filled and the robot does not respond to any nav 2d goals. Also nothing is published from the controll server on the topic /cmd_vel.
The terminal repeatly prints:
[controller_server-1] [WARN] [1629735747.578710511] [local_costmap.local_costmap]: Sensor origin: (-0.01, -0.04, 0.80), out of map bounds. The costmap can't raytrace for it.
The used configuration is identical to the example from nav2_bringup, only I set "use_sime_time" to "false" everywhere.
Thank you in advance