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Turtlebot3 waffle_pi: Could not get robot pose

asked 2022-05-10 10:57:56 -0600

BENBEY gravatar image

updated 2022-07-02 08:02:53 -0600

lucasw gravatar image

Hi, I'm using Ubuntu 20.04, ROS Noetic, I'm working with Turtlebot3 waffle_pi, I've followed all the steps of the installations and the configurations mentioned in emanual.robotis.com. I've problems in the Navigation part I've created a map using the SLAM and used it for the navigation but I got these warnings:

And this errors :

I used 2D Pose Estimate tool to set the robot's position, When I set the Nav Goal the Robot start turning around himself.

Can anyone help me with this problem? Thank you.

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output:

[ WARN] [1652195058.651888611]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1652195059.251885345]: Costmap2DROS transform timeout. Current time: 1652195059.2518, global_pose stamp: 1652195053.9027, tolerance: 0.5000
[ WARN] [1652195051.009158068]: Unable to get starting pose of robot, unable to create global plan
[ERROR] [1652195051.408952936]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
[ERROR] [1652195046.308581192]: Rotate recovery can't rotate in place because there is a potential collision. Cost: -1.00
BENBEY gravatar image BENBEY  ( 2022-05-10 11:00:15 -0600 )edit
[ WARN] [1652194831.530867517]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided

[ WARN] [1652194831.859442296]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 1652194830,286521 according to authority unknown_publisher

[ WARN] [1652194892.856791159]: Unable to get starting pose of robot, unable to create global plan

[ WARN] [1652194893.554264911]: Could not get robot pose, cancelling reconfiguration



[ERROR] [1652194897.856725001]: Could not get robot pose

[ERROR] [1652194903.057114508]: Cannot clear map because pose cannot be retrieved

[ERROR] [1652195051.408952936]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
BENBEY gravatar image BENBEY  ( 2022-05-10 16:12:39 -0600 )edit

output:

WARN: 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 0.100572 timeout was 0.1.

WARN: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided

WARN: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 1652194830,286521 according to authority unknown_publisher

WARN: Unable to get starting pose of robot, unable to create global plan

WARN: Could not get robot pose, cancelling reconfiguration



ERROR: Could not get robot pose

ERROR: Cannot clear map because pose cannot be retrieved

ERROR: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
BENBEY gravatar image BENBEY  ( 2022-05-11 02:43:20 -0600 )edit

1 Answer

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answered 2022-05-11 10:00:52 -0600

BENBEY gravatar image

hi, i've found the problem, it was a time synchronization between the remote pc and the robot

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Asked: 2022-05-10 10:57:56 -0600

Seen: 63 times

Last updated: May 11 '22