Problems using the navigation stack [closed]

edit

Hi

I'm trying to use the navigation stack, but I have some problems.

Well, I've configured the parameters as the tutorial says. Then I use Rviz for setting the estimated position and the goal. Doing that, I can make the robot move, but I get this warning messages in the console:

[ WARN] [1350459884.039970066, 6963.543000000]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1350459887.093712554, 6968.750000000]: Costmap2DROS transform timeout. Current time: 6968.7500, global_pose stamp: 6968.4210, tolerance: 0.3000

I don't know if it's normal to recieve this warnings (I suppose it's not). I think that the reason why I recieve this warnings is because the frequency of my laser scan is only 2 Hz, but I'm not sure.

In addition, the robot is not able to avoid obstacles, and that tells me that I'm missing something.

For more detail, here's my costmap parameters:

local_costmap:
  global_frame: /odom
  robot_base_frame: /base_footprint
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.2 #0.05

global_costmap:
  global_frame: /map
  robot_base_frame: /base_footprint
  update_frequency: 5.0
  static_map: true

Can anyone give me a clue? Thanks in advance ;-)

I'm on Ubuntu 12.04 and ROS Fuerte.

EDITED: More info. I've set the frequency of the laser to the max (8Hz) and the warning continues.

With rosrun tf tf_monitor I get:

RESULTS: for all Frames

Frames:
Frame: /back_left_wheel published by /robot_state_publisher Average Delay: 0.000126582 Max Delay: 0.006
Frame: /back_right_wheel published by /robot_state_publisher Average Delay: 0.000126582 Max Delay: 0.006
Frame: /base_footprint published by /summit_xl_odometry Average Delay: -0.00904412 Max Delay: 0.001
Frame: /base_link published by /summit_xl_tf_node Average Delay: -0.256207 Max Delay: 0
Frame: /front_left_wheel published by /robot_state_publisher Average Delay: 0.000126582 Max Delay: 0.006
Frame: /front_right_wheel published by /robot_state_publisher Average Delay: 0.000126582 Max Delay: 0.006
Frame: /imu_link published by /robot_state_publisher Average Delay: -0.509563 Max Delay: 0
Frame: /odom published by /amcl Average Delay: 0.0235 Max Delay: 0.081
Frame: /openni_depth_frame published by /summit_xl_tf_node Average Delay: -0.00770476 Max Delay: 0
Frame: /tof_link published by /robot_state_publisher Average Delay: -0.509563 Max Delay: 0

All Broadcasters:
Node: /amcl 8.27301 Hz, Average Delay: 0.0235 Max Delay: 0.081
Node: /robot_state_publisher 88.6508 Hz, Average Delay: -0.288324 Max Delay: 0.006
Node: /summit_xl_odometry 98.4556 Hz, Average Delay: -0.00904412 Max Delay: 0.001
Node: /summit_xl_tf_node 101.597 Hz, Average Delay: -0.00769048 Max Delay: 0