# Revision history [back]

### Kinect ( on turtlebot) not returning depth image

I was trying to callibrate the iRobot Create that I have but it gave me the error "Please point me at a wall" repeatedly.

So I tried to check if my Kinect is working or not.

When I enter the following command, after running openni_launch

rosrun image_view disparity_view image:=/camera/depthegistered/disparity


I don't get any output in the screen that pops up. And I get the following messages in the commandline,

[ WARN] [1386873729.750409802]: TF exception:
The tf tree is invalid because it contains a loop.
Frame /base_footprint exists with parent /odom.
Frame /odom exists with parent NO_PARENT.
Frame /camera_rgb_optical_frame exists with parent /camera_rgb_frame.
Frame /camera_rgb_frame exists with parent /base_link.
Frame /camera_depth_optical_frame exists with parent /camera_depth_frame.
Frame /camera_depth_frame exists with parent /camera_rgb_frame.
Frame /camera_link exists with parent /camera_rgb_frame.
Frame /base_link exists with parent /base_footprint.
Frame /laser exists with parent /base_link.


What should I do in this case?

All I am using are the turtlebot packages for groovy

### Kinect ( on turtlebot) not returning depth imageiRobot Create turtlebot_calibration returns "Point me at a wall"

I was trying to callibrate the iRobot Create that I have but it gave me the error "Please point me at a wall" repeatedly.

So I tried to check if my Kinect is working or not.

When I enter the following command, after running openni_launch

rosrun image_view disparity_view image:=/camera/depthegistered/disparity


I don't get any output in the screen that pops up. And I get the following messages in the commandline,

[ WARN] [1386873729.750409802]: TF exception:
The tf tree is invalid because it contains a loop.
Frame /base_footprint exists with parent /odom.
Frame /odom exists with parent NO_PARENT.
Frame /camera_rgb_optical_frame exists with parent /camera_rgb_frame.
Frame /camera_rgb_frame exists with parent /base_link.
Frame /camera_depth_optical_frame exists with parent /camera_depth_frame.
Frame /camera_depth_frame exists with parent /camera_rgb_frame.
Frame /camera_link exists with parent /camera_rgb_frame.
Frame /base_link exists with parent /base_footprint.
Frame /laser exists with parent /base_link.


What should I do in this case?case? Do I need to calibrate?

If I just run the gmapping_demo, there is no boundary being generated when I point the robot to a wall.

All I am using are the turtlebot packages for groovy

### Turtlebot gmapping demo not generating map, any help?

I am using the turtlebot packages for groovy on an iRobot Create turtlebot_calibration returns "Point me at Create.

If I just run the gmapping_demo, there is no boundary being generated when I point the robot to a wall"

I was trying wall. Just in case, I save this "map" and attempt to navigate it autonomously. When I run the amcl.demo with this map and try to set a navigation goal, I get the following -

[ WARN] [1386874801.296779658]: Unable to get starting pose of robot, unable to create global plan
[ERROR] [1386874801.296936591]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
[ERROR] [1386874801.382994043]: Extrapolation Error looking up robot pose: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_footprint] to frame [/map]

[ WARN] [1386874801.983458460]: Could not get robot pose, cancelling reconfiguration
[ERROR] [1386874802.383747282]: Extrapolation Error looking up robot pose: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_footprint] to frame [/map]


So, I then tried to callibrate the iRobot Create that I have but it gave me the error "Please point me at a wall" repeatedly.

So I tried to check if my Kinect is working or not.

When I enter the following command, after running openni_launch

rosrun image_view disparity_view image:=/camera/depthegistered/disparity


I don't get any output in the screen that pops up. And I get the following messages in the commandline,

[ WARN] [1386873729.750409802]: TF exception:
The tf tree is invalid because it contains a loop.
Frame /base_footprint exists with parent /odom.
Frame /odom exists with parent NO_PARENT.
Frame /camera_rgb_optical_frame exists with parent /camera_rgb_frame.
Frame /camera_rgb_frame exists with parent /base_link.
Frame /camera_depth_optical_frame exists with parent /camera_depth_frame.
Frame /camera_depth_frame exists with parent /camera_rgb_frame.
Frame /camera_link exists with parent /camera_rgb_frame.
Frame /base_link exists with parent /base_footprint.
Frame /laser exists with parent /base_link.


I tried it again after that and the Kinect did return me the depth image. But still I don't get anything from the gmapping demo. What should I do in this case? Do I need to calibrate?

If I just run the gmapping_demo, there is no boundary being generated when I point the robot to a wall.

All I am using are the turtlebot packages for groovynext?

 4 retagged tfoote 53334 ●101 ●388 ●462 http://www.ros.org/

### Turtlebot gmapping demo not generating map, any help?

I am using the turtlebot packages for groovy on an iRobot Create.

If I just run the gmapping_demo, there is no boundary being generated when I point the robot to a wall. Just in case, I save this "map" and attempt to navigate it autonomously. When I run the amcl.demo with this map and try to set a navigation goal, I get the following -

[ WARN] [1386874801.296779658]: Unable to get starting pose of robot, unable to create global plan
[ERROR] [1386874801.296936591]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
[ERROR] [1386874801.382994043]: Extrapolation Error looking up robot pose: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_footprint] to frame [/map]

[ WARN] [1386874801.983458460]: Could not get robot pose, cancelling reconfiguration
[ERROR] [1386874802.383747282]: Extrapolation Error looking up robot pose: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_footprint] to frame [/map]


So, I then tried to callibrate the iRobot Create that I have but it gave me the error "Please point me at a wall" repeatedly.

So I tried to check if my Kinect is working or not.

When I enter the following command, after running openni_launch

rosrun image_view disparity_view image:=/camera/depthegistered/disparity


I don't get any output in the screen that pops up. And I get the following messages in the commandline,

[ WARN] [1386873729.750409802]: TF exception:
The tf tree is invalid because it contains a loop.
Frame /base_footprint exists with parent /odom.
Frame /odom exists with parent NO_PARENT.
Frame /camera_rgb_optical_frame exists with parent /camera_rgb_frame.
Frame /camera_rgb_frame exists with parent /base_link.
Frame /camera_depth_optical_frame exists with parent /camera_depth_frame.
Frame /camera_depth_frame exists with parent /camera_rgb_frame.
Frame /camera_link exists with parent /camera_rgb_frame.
Frame /base_link exists with parent /base_footprint.
Frame /laser exists with parent /base_link.


I tried it again after that and the Kinect did return me the depth image. But still I don't get anything from the gmapping demo. What should I do next?

 5 retagged

### Turtlebot gmapping demo not generating map, any help?

I am using the turtlebot packages for groovy on an iRobot Create.

If I just run the gmapping_demo, there is no boundary being generated when I point the robot to a wall. Just in case, I save this "map" and attempt to navigate it autonomously. When I run the amcl.demo with this map and try to set a navigation goal, I get the following -

[ WARN] [1386874801.296779658]: Unable to get starting pose of robot, unable to create global plan
[ERROR] [1386874801.296936591]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
[ERROR] [1386874801.382994043]: Extrapolation Error looking up robot pose: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_footprint] to frame [/map]

[ WARN] [1386874801.983458460]: Could not get robot pose, cancelling reconfiguration
[ERROR] [1386874802.383747282]: Extrapolation Error looking up robot pose: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_footprint] to frame [/map]


So, I then tried to callibrate the iRobot Create that I have but it gave me the error "Please point me at a wall" repeatedly.

So I tried to check if my Kinect is working or not.

When I enter the following command, after running openni_launch

rosrun image_view disparity_view image:=/camera/depthegistered/disparity


I don't get any output in the screen that pops up. And I get the following messages in the commandline,

[ WARN] [1386873729.750409802]: TF exception:
The tf tree is invalid because it contains a loop.
Frame /base_footprint exists with parent /odom.
Frame /odom exists with parent NO_PARENT.
Frame /camera_rgb_optical_frame exists with parent /camera_rgb_frame.
Frame /camera_rgb_frame exists with parent /base_link.
Frame /camera_depth_optical_frame exists with parent /camera_depth_frame.
Frame /camera_depth_frame exists with parent /camera_rgb_frame.
Frame /camera_link exists with parent /camera_rgb_frame.
Frame /base_link exists with parent /base_footprint.
Frame /laser exists with parent /base_link.


I tried it again after that and the Kinect did return me the depth image. But still I don't get anything from the gmapping demo. What should I do next?

 6 retagged

### Turtlebot gmapping demo not generating map, any help?

I am using the turtlebot packages for groovy on an iRobot Create.

If I just run the gmapping_demo, there is no boundary being generated when I point the robot to a wall. Just in case, I save this "map" and attempt to navigate it autonomously. When I run the amcl.demo with this map and try to set a navigation goal, I get the following -

[ WARN] [1386874801.296779658]: Unable to get starting pose of robot, unable to create global plan
[ERROR] [1386874801.296936591]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
[ERROR] [1386874801.382994043]: Extrapolation Error looking up robot pose: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_footprint] to frame [/map]

[ WARN] [1386874801.983458460]: Could not get robot pose, cancelling reconfiguration
[ERROR] [1386874802.383747282]: Extrapolation Error looking up robot pose: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_footprint] to frame [/map]


So, I then tried to callibrate the iRobot Create that I have but it gave me the error "Please point me at a wall" repeatedly.

So I tried to check if my Kinect is working or not.

When I enter the following command, after running openni_launch

rosrun image_view disparity_view image:=/camera/depthegistered/disparity


I don't get any output in the screen that pops up. And I get the following messages in the commandline,

[ WARN] [1386873729.750409802]: TF exception:
The tf tree is invalid because it contains a loop.
Frame /base_footprint exists with parent /odom.
Frame /odom exists with parent NO_PARENT.
Frame /camera_rgb_optical_frame exists with parent /camera_rgb_frame.
Frame /camera_rgb_frame exists with parent /base_link.
Frame /camera_depth_optical_frame exists with parent /camera_depth_frame.
Frame /camera_depth_frame exists with parent /camera_rgb_frame.
Frame /camera_link exists with parent /camera_rgb_frame.
Frame /base_link exists with parent /base_footprint.
Frame /laser exists with parent /base_link.


I tried it again after that and the Kinect did return me the depth image. But still I don't get anything from the gmapping demo. What should I do next?

 7 retagged

### Turtlebot gmapping demo not generating map, any help?

I am using the turtlebot packages for groovy on an iRobot Create.

If I just run the gmapping_demo, there is no boundary being generated when I point the robot to a wall. Just in case, I save this "map" and attempt to navigate it autonomously. When I run the amcl.demo with this map and try to set a navigation goal, I get the following -

[ WARN] [1386874801.296779658]: Unable to get starting pose of robot, unable to create global plan
[ERROR] [1386874801.296936591]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
[ERROR] [1386874801.382994043]: Extrapolation Error looking up robot pose: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_footprint] to frame [/map]

[ WARN] [1386874801.983458460]: Could not get robot pose, cancelling reconfiguration
[ERROR] [1386874802.383747282]: Extrapolation Error looking up robot pose: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_footprint] to frame [/map]


So, I then tried to callibrate the iRobot Create that I have but it gave me the error "Please point me at a wall" repeatedly.

So I tried to check if my Kinect is working or not.

When I enter the following command, after running openni_launch

rosrun image_view disparity_view image:=/camera/depthegistered/disparity


I don't get any output in the screen that pops up. And I get the following messages in the commandline,

[ WARN] [1386873729.750409802]: TF exception:
The tf tree is invalid because it contains a loop.
Frame /base_footprint exists with parent /odom.
Frame /odom exists with parent NO_PARENT.
Frame /camera_rgb_optical_frame exists with parent /camera_rgb_frame.
Frame /camera_rgb_frame exists with parent /base_link.
Frame /camera_depth_optical_frame exists with parent /camera_depth_frame.
Frame /camera_depth_frame exists with parent /camera_rgb_frame.
Frame /camera_link exists with parent /camera_rgb_frame.
Frame /base_link exists with parent /base_footprint.
Frame /laser exists with parent /base_link.


I tried it again after that and the Kinect did return me the depth image. But still I don't get anything from the gmapping demo. What should I do next?

 8 retagged

### Turtlebot gmapping demo not generating map, any help?

I am using the turtlebot packages for groovy on an iRobot Create.

If I just run the gmapping_demo, there is no boundary being generated when I point the robot to a wall. Just in case, I save this "map" and attempt to navigate it autonomously. When I run the amcl.demo with this map and try to set a navigation goal, I get the following -

[ WARN] [1386874801.296779658]: Unable to get starting pose of robot, unable to create global plan
[ERROR] [1386874801.296936591]: Aborting because a valid plan could not be found. Even after executing all recovery behaviors
[ERROR] [1386874801.382994043]: Extrapolation Error looking up robot pose: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_footprint] to frame [/map]

[ WARN] [1386874801.983458460]: Could not get robot pose, cancelling reconfiguration
[ERROR] [1386874802.383747282]: Extrapolation Error looking up robot pose: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_footprint] to frame [/map]


So, I then tried to callibrate the iRobot Create that I have but it gave me the error "Please point me at a wall" repeatedly.

So I tried to check if my Kinect is working or not.

When I enter the following command, after running openni_launch

rosrun image_view disparity_view image:=/camera/depthegistered/disparity


I don't get any output in the screen that pops up. And I get the following messages in the commandline,

[ WARN] [1386873729.750409802]: TF exception:
The tf tree is invalid because it contains a loop.
Frame /base_footprint exists with parent /odom.
Frame /odom exists with parent NO_PARENT.
Frame /camera_rgb_optical_frame exists with parent /camera_rgb_frame.
Frame /camera_rgb_frame exists with parent /base_link.
Frame /camera_depth_optical_frame exists with parent /camera_depth_frame.
Frame /camera_depth_frame exists with parent /camera_rgb_frame.
Frame /camera_link exists with parent /camera_rgb_frame.
Frame /base_link exists with parent /base_footprint.
Frame /laser exists with parent /base_link.