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Unable to use the pr2 navigation stack tutorial on ros groovy

asked 2013-04-10 15:34:34 -0500

FranciscoD gravatar image

updated 2014-11-22 17:05:03 -0500

ngrennan gravatar image

I'm going through the pr2 simulator workshop. The navigation stack part doesn't seem to work correctly.

At the

roslaunch pr2_navigation_global rviz_move_base.launch

step, the figure in the tutorial shows a "blank map" should come up, but it doesn't here. All I get is a new rviz window where I can't do anything:

image description

The terminal where I ran the roslaunch ~/pr2_nav_tutorial.launch shows quite a few errors like this:

[tilt_shadow_filter-5] process has died [pid 22033, exit code -11, cmd /opt/ros/groovy/stacks/laser_filters/bin/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/ankur-ros/.ros/log/ee3c2346-a2a8-11e2-b2e0-24be051362b4/tilt_shadow_filter-5.log].
log file: /home/ankur-ros/.ros/log/ee3c2346-a2a8-11e2-b2e0-24be051362b4/tilt_shadow_filter-5*.log
respawning...
[tilt_shadow_filter-5] restarting process
process[tilt_shadow_filter-5]: started with pid [22164]
[ERROR] [1365687042.097848393, 563.716000000]: Lookup would require extrapolation into the past.  Requested time 563.453000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1365687042.627573548, 563.918000000]: Lookup would require extrapolation into the past.  Requested time 563.478000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1365687043.089249967, 564.119000000]: Lookup would require extrapolation into the past.  Requested time 563.503000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1365687043.572150252, 564.322000000]: Lookup would require extrapolation into the past.  Requested time 563.533000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1365687044.021776920, 564.527000000]: Lookup would require extrapolation into the past.  Requested time 563.563000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1365687044.433511852, 564.730000000]: Lookup would require extrapolation into the past.  Requested time 563.588000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1365687044.854850625, 564.934000000]: Lookup would require extrapolation into the past.  Requested time 563.614000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1365687045.289955355, 565.134000000]: Lookup would require extrapolation into the past.  Requested time 563.640000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[ERROR] [1365687045.765197888, 565.339000000]: Lookup would require extrapolation into the past.  Requested time 563.665000000 but the earliest data is at time 563.711000000, when looking up transform from frame [/base_footprint] to frame [/base_link]
[tilt_shadow_filter-5] process has died [pid 22164, exit code -11, cmd /opt/ros/groovy/stacks/laser_filters/bin/scan_to_cloud_filter_chain scan:=tilt_scan cloud_filtered:=tilt_scan_shadow_filtered __name:=tilt_shadow_filter __log:=/home/ankur-ros/.ros/log/ee3c2346-a2a8-11e2-b2e0-24be051362b4/tilt_shadow_filter-5.log].
log file: /home/ankur-ros/.ros/log/ee3c2346-a2a8-11e2-b2e0-24be051362b4/tilt_shadow_filter-5*.log
respawning...

I'm on ros groovy on Ubuntu 12.10. Would anyone know if there are changes to the navigation stack tutorial that ... (more)

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answered 2013-07-16 11:01:35 -0500

ahendrix gravatar image

The problem with rviz was that nobody update the rviz configuration files for the new rviz when pr2_navigation was released into Groovy.

The rviz problems should be fixed with the pending release of pr2_navigation 0.1.17 into Groovy.

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answered 2013-06-03 18:44:29 -0500

David Lu gravatar image
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answered 2013-04-11 11:57:11 -0500

MKnight gravatar image

Hello, I had the same problem with that tutorial. Groove has many changes, so the tutorial will not work unless someone update it.

Best.

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Any volunteers please? :)

FranciscoD gravatar imageFranciscoD ( 2013-04-11 15:57:55 -0500 )edit

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Asked: 2013-04-10 15:34:34 -0500

Seen: 449 times

Last updated: Jul 16 '13