Nav2: saved map not loading

Hi,

I am trying to load the map saved using ros2 run nav2_map_server map_saver_cli -f ~/map. The robot was moved by manually setting the goals and exploring the area and once the room was mapped, the map is saved. I was using navigation_launch.py launch file while mapping.

To start and try to load the map I used the bringup_launch.py with the map parameter set to saved map file.

I get the log that the map is loaded but there is nothing in Rviz. None of the maps is updated.

I see only in the log: [amcl-10] Warning: Invalid frame ID "base_footprint" passed to canTransform argument target_frame - frame does not exist [amcl-10] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.10/src/buffer_core.cpp

What I am missing here?

Regards, Nedim

Asked by nedo99 on 2021-10-05 02:26:26 UTC

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Answers

Update: base_footprint frame got resolved. We were using base_link and this got solved, but now the issue is that when we have a SLAM algorithm publishing to /map topic then saved global cost map is not used. If I disable SLAM then the global cost map is loaded fine, but initial pose is not set right. Even if I do 2d pose estimate is not able to update it.

Asked by nedo99 on 2021-10-05 04:07:17 UTC