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Error static transform publisher

asked 2013-09-24 14:58:56 -0500

FuerteNewbie gravatar image

updated 2013-11-14 11:37:47 -0500

tfoote gravatar image

ERROR: cannot launch node of type [tf/static_transform_publisher]: can't locate node [static_transform_publisher] in package [tf]

I am doing amcl laser scan on stage simulator and I've got this error when I try to roslaunch my .launch file.

Here's my launch file. ( I split it into two .launch file)

stage_simulate.launch

<launch>
  <master auto="start"/>
  <!-- Run the map server -->
  <!-- <node name="map_server" pkg="map_server" type="map_server" />-->
  <!--<node name="map_server" pkg="map_server" type="map_server" args="$(find my_map_package)/mymap.yaml"/>--> 
   <!--- Run AMCL -->
  <!-- <include file="$(find amcl)/examples/amcl_omni.launch" /> -->
  <!--- stage world -->
    <node pkg="stage" type="stageros" name="stage" cwd="node" args="/home/user/fuerte_workspace/sandbox/worldmap/willow-four-erratics.world" respawn="false" output="screen">
  </node>
  <!--- dynamic_reconfigure -->
  <node pkg="dynamic_reconfigure" type="reconfigure_gui" respawn="false" name="reconfigure_gui" output="screen"/>
</launch>

stage_split.launch

<launch>
  <master auto="start"/>
 <!--- rviz -->
  <node pkg="rviz" type="rviz" respawn="false" name="rviz" args="/home/user/fuerte_workspace/sandbox/worldmap/display_config.vcg" output="screen"/>
<node pkg="tf" type="static_transform_publisher" name="tf_broadcaster" args="1 0 0 0 0 0 base_link base_scan 100" />
</launch>

Output from stage_simulate.launch

... logging to /home/user/.ros/log/94773422-264c-11e3-9636-0022fb8421da/roslaunch-ubuntu-3214.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

WARNING: ignoring defunct <master /> tag
started roslaunch server htp://ubuntu:35981/

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    reconfigure_gui (dynamic_reconfigure/reconfigure_gui)
    stage (stage/stageros)

ROS_MASTER_URI=htp://localhost:11311

core service [/rosout] found
process[stage-1]: started with pid [3234]
process[reconfigure_gui-2]: started with pid [3235]
 [Loading /home/user/fuerte_workspace/sandbox/worldmap/willow-four-erratics.world][Image "willow-full.pgm"]
[ INFO] [1380159864.910827049]: found 1 position/laser pair in the file
reconfigure_gui started

Output of stage_split.launch

... logging to /home/user/.ros/log/94773422-264c-11e3-9636-0022fb8421da/roslaunch-ubuntu-3581.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

WARNING: ignoring defunct <master /> tag
started roslaunch server htp://ubuntu:33620/

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion

NODES
  /
    rviz (rviz/rviz)
    tf_broadcaster (tf/static_transform_publisher)

ROS_MASTER_URI=htp://localhost:11311

core service [/rosout] found
process[rviz-1]: started with pid [3607]
ERROR: cannot launch node of type [tf/static_transform_publisher]: can't locate node [static_transform_publisher] in package [tf]
[ INFO] [1380159895.148350411]: rviz revision number 1.8.17
[ INFO] [1380159895.148487370]: compiled against OGRE version 1.7.3 (Cthugha)
[ INFO] [1380159895.278180259]: Loading general config from [/home/user/.rviz/config]
[ INFO] [1380159896.729459922, 31.700000000]: Texture for pass 0: creating with size 1 x 1
[ INFO] [1380159896.730790120, 31.700000000]: Texture for pass 1: creating with size 1 x 1
[ WARN] [1380159897.604848196, 32.500000000]: Message from [/stage] has a non-fully-qualified frame_id [base_laser_link]. Resolved locally to [/base_laser_link].  This is will likely not work in multi-robot systems.  This message will only print once.
[ WARN] [1380160015.008231130, 149.900000000]: Message from [/stage] has a non-fully-qualified frame_id [base_laser_link]. Resolved locally to [/base_laser_link].  This is will likely not work in multi-robot systems.  This message will only print once.
[ WARN] [1380160057.864622087, 192.800000000]: Message from [/amcl] has a non-fully-qualified frame_id [map]. Resolved locally ...
(more)
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Comments

I don't see anything wrong with the syntax of your launch file. What version of ROS are you on? Do you have `tf` properly installed? What happens if you execute `rosrun tf static_transform_publisher 1 0 0 0 0 0 base_link base_scan 100`?

jarvisschultz gravatar imagejarvisschultz ( 2013-09-24 15:46:12 -0500 )edit

I am using fuerte. Nothing actually happen. Another problem happened when I launch the second .launch file. [ WARN] [1380074027.654405625]: Message from [/stage] has a non-fully-qualified frame_id [base_laser_link]. Resolved locally to [/base_laser_link]. This is will likely not work in multi-robot systems. This message will only print once.

FuerteNewbie gravatar imageFuerteNewbie ( 2013-09-24 15:55:31 -0500 )edit

Do you mean nothing happens when you try `rosrun tf static_transform_publisher 1 0 0 0 0 0 base_link base_scan 100`? No output at all? Just return to the prompt? (note: the number of parameters in that rosrun command is wrong. You need another number before base_link as a quaternion is 4 numbers).

DamienJadeDuff gravatar imageDamienJadeDuff ( 2013-09-24 21:45:42 -0500 )edit

No return to the prompt, I must Ctrl+C to stop it even though there is nothing. How is it suppose to be like? I actually refer to tf tutorial of ROS. Quaternion is something like 0 0 0 1?

FuerteNewbie gravatar imageFuerteNewbie ( 2013-09-24 22:04:16 -0500 )edit

Actually 3 arguments for rotation is OK. In that case it interprets those as euler angles.

dornhege gravatar imagedornhege ( 2013-09-24 23:20:40 -0500 )edit
2

No output to the screen is the behaviour when it is working successfully. It shouldn't put output to the screen; instead it publishes to the /tf topic. You can see if the transform is broadcasting by typing `rosrun tf view_frames` or suchlike in another terminal. Thanks for the correction dornhege.

DamienJadeDuff gravatar imageDamienJadeDuff ( 2013-09-25 00:08:55 -0500 )edit

So the rosrun command seems to be working but not the roslaunch. This may help others help you: give the output of `env|grep ROS` and `env|grep PATH`. Also do give the full command you use to launch the roslaunch file and its full output. You can edit the question and add it to the bottom.

DamienJadeDuff gravatar imageDamienJadeDuff ( 2013-09-25 00:13:41 -0500 )edit

Does the rviz node in the same launch come up?

dornhege gravatar imagedornhege ( 2013-09-25 01:31:19 -0500 )edit

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answered 2013-09-28 21:59:50 -0500

DamienJadeDuff gravatar image

This might be one, suboptimal, answer for you. Check out the following question:

roslaunch error

The user fixed it by recreating the package in question and copying appropriate files across. They never tracked down the real cause of the problem.

Actually if this answer works for you (don't forget to make the backups!) then you'd probably be doing the community a service if you explored what the problematic difference is between the failing package and the recreated one (by using a backup of the problematic package and reintroducing its differences one by one). Things to pay particular attention to are file permissions, hidden and configuration files, different file contents.

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Comments

If you just want to get the transform in the launch file running, then running the rosrun command like this would be enough: `rosrun tf static_transform_publisher 1 0 0 0 0 0 base_link base_scan 100`.

DamienJadeDuff gravatar imageDamienJadeDuff ( 2013-10-02 02:58:23 -0500 )edit

Check that this works by calling `rosrun tf view_frames` in another terminal and look at the PDF file. There should be a link between base_link and base_scan. This way you wouldn't need to fix the launch file problem (though you should probably do that too).

DamienJadeDuff gravatar imageDamienJadeDuff ( 2013-10-02 02:59:07 -0500 )edit

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Asked: 2013-09-24 14:58:56 -0500

Seen: 1,911 times

Last updated: Sep 28 '13