Good day, I am attempting the basic navigation example here.

I am trying to learn how to use the navigation stack so accuracy is of no importance right now.

The difference between the example and my setup is that I am only proving a /scan message to the amcl from the zed2 stereo camera, no pointcloud data (by running a pointcloudtolaserscan node to convert the PointCloud data to laserscan). I also provided a static map using a map server.

I did not set up any tf myself because I saw that the zed's ROS code would handle all this and when I check the tree in rqt it seems to match with the example. (for now I don't mind if the camera's center and robot's center is the same as I would just like to get this up and running)

See my tf tree --->

What I would like to do I get the robot to navigate around the static map I've provided.

The problem occurs when I open rviz and try to change the initialpose of my robot using the 2D Pose Estimate button. The tf tree for odom changes location but the robot does not move. Its base link remains in the original position but for a split second it can be seen jumping to a random location then back to the original position.

Here is the terminal output warning I get from rviz:

[ WARN] [1645126549.371862224]: The origin for the sensor at (-0.04, 0.31) is out of map bounds. So, the costmap cannot raytrace for it.

Additional information and code:

ROS version: melodic

system: Ubuntu 18.04

rosnode graph--->

move_base.launch:

<launch>

   <master auto="start"/>
 <!-- Run the map server --> 
    <node name="map_server" pkg="map_server" type="map_server" args="$(find sentry_map_provider)/willow-2010-02-18-0.10.pgm 0.100000"/>

 <!--- Run AMCL --> 
    <include file="$(find amcl)/examples/amcl_diff.launch" />

   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find sentry_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" /> 
    <rosparam file="$(find sentry_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find sentry_2dnav)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find sentry_2dnav)/global_costmap_params.yaml" command="load" /> 
    <rosparam file="$(find sentry_2dnav)/base_local_planner_params.yaml" command="load" />
 </node>

</launch> 

baselocalplanner_params.yaml:

TrajectoryPlannerROS:
  max_vel_x: 0.45
  min_vel_x: 0.1
  max_vel_theta: 1.0
  min_in_place_vel_theta: 0.4

  acc_lim_theta: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic_robot: false

costmancommonparams.yaml:

obstacle_range: 0.5
raytrace_range: 3.0

footprint: [[-0.25,-0.5],[-0.25,0.5],[0.25,0.5],[0.25,-0.5]]

inflation_radius: 0.55


observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: zed2_base_link, data_type: LaserScan, topic: /scan, marking: true, clearing: true}

globalcostmapparams.yaml:

global_costmap:
  global_frame: map
  robot_base_frame: base_link
  update_frequency: 5.0
  static_map: true

localcostmapparams.yaml:

local_costmap:
      global_frame: odom
      robot_base_frame: base_link
      update_frequency: 5.0
      publish_frequency: 2.0
      static_map: false
      rolling_window: true
      width: 6.0
      height: 6.0
      resolution: 0.05

The origin for the sensor at (-0.04, 0.31) is out of map bounds. So, the costmap cannot raytrace for it.

roswtf