Turtlebot3 gazebo simulation error; no map received, no link between base and map frames

asked 2021-08-31 15:48:51 -0600

Abdur gravatar image

I am following the turtlebot3 tutorials as it is from the website, without changing anything: https://emanual.robotis.com/docs/en/p...

I am using ubuntu 20.04 and ros noetic.

After following the steps, there is no link between the map frame and base frames. The tf tree is as follows: https://photos.app.goo.gl/ecqu8KyEKYi...

The robot does not move with the turtlebot3_teleop_key. And there is no map received on rviz: https://photos.app.goo.gl/czp1euv2uWs...

On rviz no transform is available from base to map, when the fixed frame is [map]. https://photos.app.goo.gl/rUGVqAVvcL3...

When the fixed frame is base_link, the error is limited to left and right wheel transforms: https://photos.app.goo.gl/tAVML8Z2aU8...

On the terminal, when I run the command "roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping", I get the following warning:

Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame odom at time 7.634000 according to authority unknown_publisher at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp

I have just the basic knowledge of ros. I tried to check the /robot_state_publisher node, but seems like data from it is not being duplicated, it is generated by the gmapping node: https://photos.app.goo.gl/v4pCoh4qypp...

I am stuck here for much time now and I would really appreciate the help. Thank you.

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