"Verify that data is being published on the /turtlebot01/scan topic" even though data exists in /turtlebot01/scan on physical turtlebot3
Hello! I've been trying to get move_base functioning on two physical turtlebot3 waffle_pi for a few days now, but I have been stuck on this issue for quite awhile now. I am able to subscribe to each of the turtlebots and get lidar data using their namespace/scan, and I am so far able to send teleop commands. But I am still not able to get move_base working, as I believe the localization/amcl is not working correctly.
I am running with 2 Turtlebot3 waffle_pi The server is running in a docker image as Ubuntu 20.04, ROS1 Noetic
Here are the warnings I am getting:
[ WARN] [1666818216.636210456]: No laser scan received (and thus no pose updates have been published) for 1666818216.636097 seconds. Verify that data is being published on the /turtlebot01/scan topic. [ WARN] [1666818216.651007763]: No laser scan received (and thus no pose updates have been published) for 1666818216.650903 seconds. Verify that data is being published on the /turtlebot02/scan topic. [ WARN] [1666818220.743254097]: Timed out waiting for transform from turtlebot01/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100328 timeout was 0.1. [ WARN] [1666818220.776271416]: Timed out waiting for transform from turtlebot02/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101146 timeout was 0.1
Unfortunately I am not able to upload any files yet, but here are the relevant ones:
All of my launch files are here: https://gist.github.com/wyattmotion2a...
Here is my TF tree: https://imgur.com/53QqTZB
Here is a link with related images. https://imgur.com/a/yruhL7F
I believe the problem is somehow related to the TF tree and AMCL not publishing the correct transforms. But I am not sure what the real problem is or how to track it down. Thank you for any help!