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Unexpected navigation tf warning

asked 2013-06-27 02:58:52 -0500

Lucile gravatar image

updated 2013-06-27 03:07:56 -0500

Sometimes, while launching the autonomous navigation the following warning occurs :

[ WARN] [1372337372.793829100]: Waiting on transform from /base_footprint to /map to becomeavailable before running costmap, tf error:

and after that, I can't manage to get the navigation to work again. Most of the times, it does work fine. I don't understand why sometimes it doesn't.

The manipulations I do is launching turtlebot_bringup minimal.launch and then launching the navigation's nodes thanks this launch file :

<launch>
  <include file = "$(find turtlebot_bringup)/launch/3dsensor.lau
nch">
    <arg name = "depth_processing" value = "false" />
  </include>
  <!--Map server-->
  <node name = "map_server" pkg = "map_server" type = "map_serve
r" args = "/maps/my_map.yaml"/>
  <include file = "$(find turtlebot_navigation)/launch/includes/
_amcl.launch">
    <arg name = "initial_pose_x" value = "16.6"/>
    <arg name = "initial_pose_y" value = "34.55"/>
    <arg name = "initial_pose_a" value = "1.59"/>
  </include>
  <include file = "$(find turtlebot_navigation)/launch/includes/
_move_base.launch"/>

I first thought it was because the nodes which update tf tree needed time to initialize... But I am not sure that is the reason.

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answered 2013-06-27 14:19:06 -0500

jorge gravatar image

There's nothing wrong with your launch file. My guess is that kinect is not working properly when you get this error. When it happens again, can you echo /scan topic? If nothing is coming, check that Kinect is not connected to a USB 3.0 port.

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I just checked : you were right, when it doesn't work /scan topic is empty. But there is no USB 3.0 port on the turtlebot's laptop. But now that I know what is not working, I can try to solve it. Thanks.

Lucile gravatar image Lucile  ( 2013-06-27 22:35:44 -0500 )edit

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Asked: 2013-06-27 02:58:52 -0500

Seen: 93 times

Last updated: Jun 27 '13