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move_base with turtlebot2 kobuki model

Hello,

I'm using ROS kinetic on Ubuntu 16.04, and also new to turtlebot navigation. As far as I know, the package navigation_stack and move_base node are essential for the navigation task.

However, the only launch file I can find in my turtlebot package is move_base_laser.launch, not move_base.launch. Are they the same?? Or must I install navigation_stack on my PC?

In the case of move_base_laser.launch, it never publishes the topics related /~costmap, which I've eager to.

Below is what I did and have gotten, without navigation_stack:

$ roslaunch turtlebot_gazebo my_robot.launch

$ roalaunch turtlebot_navigation move_base_laser.launch

and I got the below warning:

[ WARN] [1579510079.203379527, 15.570000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 15.57 timeout was 0.1.
[ WARN] [1579510084.303853573, 20.670000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1579510089.404964847, 25.770000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.1 timeout was 0.1.

Just so you know, the above did not bring up the turtlebot in gazebo. I also tried attaching map_file:= ~.yaml or bringing up my turtlebot previously, but it had any changes.

If anyone can help me, would you please give me some advice?

Thanks in advance.