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move_base Get plan not working for real time data???

asked 2013-01-24 07:02:54 -0500

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I am using P3dx bot and want to get a plan using move_base Get Plan service, so when I use data like tf and scan messages directly from robot I get the following warning :

[ WARN] [1359052907.140636231]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1359052908.140937352]: Costmap2DROS transform timeout. Current time: 1359052908.1409, global_pose stamp: 1359052907.5267, tolerance: 0.2000

and planning fails, but when i store the data in bag file and then run the code it works fine. Can anyone please help..

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answered 2013-01-24 11:33:40 -0500

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This is a typical problem in the navigation stack if you use a distributed navigation architecture. The time delays are a problem.

Your global costmap has a parameter "/transform_tolerance (double, default: 0.2)" What that means? If your sensor data or your odometry data is too old they are not reliable information to build a costmap. Remember that a costmap is like a mapping method (but not slam). A very high cumulated odometry error could end up in an absolutley incoherent costmap.

In any case try to increase the transform_tolerance parameter and after that told us your results please!

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answered 2013-01-25 23:48:43 -0500

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Thanks a lot, the problem seems to be resolved. I had to increase the value from 0.2 to 1.5. The value is written in costmap_common_params.yaml.

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Asked: 2013-01-24 07:02:54 -0500

Seen: 1,488 times

Last updated: Jan 25 '13