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move_base node dies - can't tell why

Hello ROS fans,

I am trying to get the navigation stack working with my new iRobot Create under Diamondback on Ubuntu 10.04. I am using the Brown irobot_create_2_1 package to drive the robot. I have successfully configured the navigation stack before for another robot under Cturtle so I thought it would be easy to transfer my parameter and launch files over to the Create. I am running the Master on the robot and RViz on my desktop. I have a Hokuyo laser scanner mounted on the Create. I can successfully view the robot and laser scan in RViz, and if I teleop the robot, I can watch it move in RViz. However when I run the following launch file, the move_base node dies within a few seconds.

<launch>
    <node pkg="move_base" type="move_base" respawn="false" name="move_base" outp
ut="screen">
        <rosparam file="$(find pi_kinectbot)/params/costmap_common_params.yaml" 
command="load" ns="global_costmap" />
        <rosparam file="$(find pi_kinectbot)/params/costmap_common_params.yaml" 
command="load" ns="local_costmap" />
        <rosparam file="$(find pi_kinectbot)/params/local_costmap_params.yaml" c
ommand="load" />
        <rosparam file="$(find pi_kinectbot)/params/global_costmap_params.yaml" 
command="load" />
        <rosparam file="$(find pi_kinectbot)/params/base_local_planner_params.ya
ml" command="load" />
   </node>
</launch>

The resulting log file is as follows:

[roscpp_internal] [2011-03-08 19:38:19,272] [thread 0xb681f740]: [DEBUG] UDPROS 
server listening on port [50340]
[roscpp_internal] [2011-03-08 19:38:19,312] [thread 0xb681f740]: [DEBUG] Started
 node [/move_base], pid [27330], bound on [192.168.1.6], xmlrpc port [55128], tc
pros port [48312], logging to [/home/patrick/.ros/log/37d28f70-49fc-11e0-b176-00
166f70860b/move_base-1.log], using [real] time
[roscpp_internal] [2011-03-08 19:38:19,317] [thread 0xb681f740]: [DEBUG] Publish
er update for [/tf]: http://192.168.1.6:60551/, http://192.168.1.6:35648/, http:
//192.168.1.6:49672/, http://192.168.1.6:41977/, http://192.168.1.6:39540/,  alr
eady have these connections: 
[roscpp_internal] [2011-03-08 19:38:19,317] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:60551]
[roscpp_internal] [2011-03-08 19:38:19,317] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:35648]
[roscpp_internal] [2011-03-08 19:38:19,318] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:49672]
[roscpp_internal] [2011-03-08 19:38:19,318] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:41977]
[roscpp_internal] [2011-03-08 19:38:19,318] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:39540]
[roscpp_internal] [2011-03-08 19:38:19,326] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [lookupService] returned an error (-1): [no provider]
[roscpp_internal] [2011-03-08 19:38:19,335] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [tf_prefix] i
n an upwards search]
[roscpp_internal] [2011-03-08 19:38:19,509] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/tf] at host [192.168.1.6:59146]
[roscpp_internal] [2011-03-08 19:38:19,510] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:59146] on socket [17]
[roscpp_internal] [2011-03-08 19:38:19,510] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/tf] at [192.168.1.6:59146]
[roscpp_internal] [2011-03-08 19:38:19,510] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/tf] at host [192.168.1.6:45661]
[roscpp_internal] [2011-03-08 19:38:19,511] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [19]
[roscpp_internal] [2011-03-08 19:38:19,511] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.6:43348]
[roscpp_internal] [2011-03-08 19:38:19,512] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:45661] on socket [18]
[roscpp_internal] [2011-03-08 19:38:19,512] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/tf] at [192.168.1.6:45661]
[roscpp_internal] [2011-03-08 19:38:19,513] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/tf] at host [192.168.1.6:37485]
[roscpp_internal] [2011-03-08 19:38:19,513] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/rosout] connected to [callerid
=[/rosout] address=[TCPROS connection to [192.168.1.6:43348 on socket 19]]]
[roscpp_internal] [2011-03-08 19:38:19,514] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:37485] on socket [20]
[roscpp_internal] [2011-03-08 19:38:19,514] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/tf] at [192.168.1.6:37485]
[roscpp_internal] [2011-03-08 19:38:19,514] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/tf] at host [192.168.1.6:46272]
[roscpp_internal] [2011-03-08 19:38:19,515] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:46272] on socket [21]
[roscpp_internal] [2011-03-08 19:38:19,515] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/tf] at [192.168.1.6:46272]
[roscpp_internal] [2011-03-08 19:38:19,515] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/tf] at host [192.168.1.6:53668]
[roscpp_internal] [2011-03-08 19:38:19,516] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:53668] on socket [22]
[roscpp_internal] [2011-03-08 19:38:19,516] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/tf] at [192.168.1.6:53668]
[roscpp_internal] [2011-03-08 19:38:19,891] [thread 0xb681f740]: [DEBUG] Publish
er update for [/move_base_simple/goal]: http://192.168.1.7:46858/,  already have
 these connections: 
[roscpp_internal] [2011-03-08 19:38:19,891] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.7:46858]
[roscpp_internal] [2011-03-08 19:38:19,918] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [tf_prefix] i
n an upwards search]
[roscpp_internal] [2011-03-08 19:38:19,923] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [12]
[roscpp_internal] [2011-03-08 19:38:19,924] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.6:43381]
[roscpp_internal] [2011-03-08 19:38:19,925] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/cmd_vel] connected to [calleri
d=[/create] address=[TCPROS connection to [192.168.1.6:43381 on socket 12]]]
[ros.costmap_2d] [2011-03-08 19:38:19,931] [thread 0xb681f740]: [INFO] Subscribe
d to Topics: base_scan
[ros.costmap_2d] [2011-03-08 19:38:19,985] [thread 0xb681f740]: [INFO] Requestin
g the map...

[roscpp_internal] [2011-03-08 19:38:19,994] [thread 0xb681f740]: [DEBUG] Publish
er update for [/map]: http://192.168.1.6:33136/,  already have these connections
: 
[roscpp_internal] [2011-03-08 19:38:19,995] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:33136]
[ros.costmap_2d] [2011-03-08 19:38:19,995] [thread 0xb681f740]: [INFO] Still wai
ting on map...

[roscpp_internal] [2011-03-08 19:38:20,021] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/move_base_simple/goal] at host [192.168.1.7:34422]
[roscpp_internal] [2011-03-08 19:38:20,021] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.7:34422] on socket [14]
[roscpp_internal] [2011-03-08 19:38:20,021] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/move_base_simple/goal] at [192.168.1.7:34422]
[roscpp_internal] [2011-03-08 19:38:20,122] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/map] at host [192.168.1.6:56532]
[roscpp_internal] [2011-03-08 19:38:20,122] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:56532] on socket [10]
[roscpp_internal] [2011-03-08 19:38:20,122] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/map] at [192.168.1.6:56532]
[roscpp_internal] [2011-03-08 19:38:20,125] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [11]
[roscpp_internal] [2011-03-08 19:38:20,125] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.4:56515]
[roscpp_internal] [2011-03-08 19:38:20,125] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/move_base/current_goal] connec
ted to [callerid=[/rviz_1299640935807127623] address=[TCPROS connection to [192.
168.1.4:56515 on socket 11]]]
[ros.costmap_2d] [2011-03-08 19:38:20,999] [thread 0xb681f740]: [INFO] Still wai
ting on map...

[ros.costmap_2d] [2011-03-08 19:38:22,016] [thread 0xb681f740]: [INFO] Received 
a 400 X 400 map at 0.050000 m/pix

[roscpp_internal] [2011-03-08 19:38:22,114] [thread 0xb681f740]: [DEBUG] Publish
er update for [/base_scan]: http://192.168.1.6:55701/,  already have these conne
ctions: 
[roscpp_internal] [2011-03-08 19:38:22,115] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:55701]
[roscpp_internal] [2011-03-08 19:38:22,145] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [footprint_pa
dding] in an upwards search]
[roscpp_internal] [2011-03-08 19:38:22,150] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [footprint] i
n an upwards search]
[roscpp_internal] [2011-03-08 19:38:22,230] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/base_scan] at host [192.168.1.6:55492]
[roscpp_internal] [2011-03-08 19:38:22,230] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:55492] on socket [15]
[roscpp_internal] [2011-03-08 19:38:22,231] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/base_scan] at [192.168.1.6:55492]
[roscpp_internal] [2011-03-08 19:38:22,301] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [tf_prefix] i
n an upwards search]
[ros.move_base] [2011-03-08 19:38:22,304] [thread 0xb681f740]: [INFO] MAP SIZE: 
400, 400
[roscpp_internal] [2011-03-08 19:38:22,307] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [tf_prefix] i
n an upwards search]
[ros.costmap_2d] [2011-03-08 19:38:22,320] [thread 0xb681f740]: [INFO] Subscribe
d to Topics: base_scan
[roscpp_internal] [2011-03-08 19:38:22,542] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [footprint_pa
dding] in an upwards search]
[roscpp_internal] [2011-03-08 19:38:22,544] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [footprint] i
n an upwards search]
[roscpp_internal] [2011-03-08 19:38:22,616] [thread 0xb681f740]: [DEBUG] Publish
er update for [/odom]: http://192.168.1.6:60551/,  already have these connection
s: 
[roscpp_internal] [2011-03-08 19:38:22,616] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:60551]
[ros.base_local_planner] [2011-03-08 19:38:22,652] [thread 0xb681f740]: [INFO] S
im period is set to 0.20
[roscpp_internal] [2011-03-08 19:38:22,742] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/odom] at host [192.168.1.6:59146]
[roscpp_internal] [2011-03-08 19:38:22,742] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:59146] on socket [26]
[roscpp_internal] [2011-03-08 19:38:22,742] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/odom] at [192.168.1.6:59146]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [13]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.4:56524]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/move_base/local_costmap/inflat
ed_obstacles] connected to [callerid=[/rviz_1299640935807127623] address=[TCPROS
 connection to [192.168.1.4:56524 on socket 13]]]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [16]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.4:56525]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/move_base/local_costmap/obstac
les] connected to [callerid=[/rviz_1299640935807127623] address=[TCPROS connecti
on to [192.168.1.4:56525 on socket 16]]]
[roscpp_internal] [2011-03-08 19:38:22,762] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [getParam] returned an error (-1): [Parameter [/move_base/TrajectoryPlanne
rROS/backup_vel] is not set]
[roscpp_internal] [2011-03-08 19:38:22,769] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [getParam] returned an error (-1): [Parameter [/move_base/TrajectoryPlanne
rROS/escape_vel] is not set]
[roscpp_internal] [2011-03-08 19:38:22,816] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [getParam] returned an error (-1): [Parameter [/move_base/TrajectoryPlanne
rROS/y_vels] is not set]
[roscpp_internal] [2011-03-08 19:38:22,858] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [23]
[roscpp_internal] [2011-03-08 19:38:22,858] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.4:56526]
[roscpp_internal] [2011-03-08 19:38:22,859] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [24]
[roscpp_internal] [2011-03-08 19:38:22,859] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.4:56527]
[roscpp_internal] [2011-03-08 19:38:22,859] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/move_base/TrajectoryPlannerROS
/global_plan] connected to [callerid=[/rviz_1299640935807127623] address=[TCPROS
 connection to [192.168.1.4:56526 on socket 23]]]
[roscpp_internal] [2011-03-08 19:38:22,859] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/move_base/TrajectoryPlannerROS
/local_plan] connected to [callerid=[/rviz_1299640935807127623] address=[TCPROS 
connection to [192.168.1.4:56527 on socket 24]]]
[roscpp_internal] [2011-03-08 19:38:23,026] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [getParam] returned an error (-1): [Parameter [/move_base/recovery_behavio
rs] is not set]
[roscpp_internal] [2011-03-08 19:38:23,089] [thread 0xb681f740]: [DEBUG] Publish
er update for [/move_base/goal]:  already have these connections: 
[roscpp_internal] [2011-03-08 19:38:23,089] [thread 0xb681f740]: [DEBUG] Creatin
g intraprocess link for topic [/move_base/goal]
[roscpp_internal] [2011-03-08 19:38:23,092] [thread 0xb681f740]: [DEBUG] Publish
er update for [/move_base/cancel]:  already have these connections: 
[ros.costmap_2d] [2011-03-08 19:38:23,092] [thread 0xb681f740]: [WARN] Message f
rom [/hokuyo] has a non-fully-qualified frame_id [base_laser]. Resolved locally 
to [/base_laser].  This is will likely not work in multi-robot systems.  This me
ssage will only print once.

My parameter files are as follows:

base_local_planner_params.yaml

TrajectoryPlannerROS:
    max_vel_x: 0.25
    min_vel_x: 0.05
    max_rotational_vel: 0.3
    min_in_place_rotational_vel: 0.15
    acc_lim_th: 5
    acc_lim_x: 3
    acc_lim_y: 3
    yaw_goal_tolerance: 0.1
    xy_goal_tolerance: 0.05
    controller_frequency: 5.0
    holonomic_robot: false
    path_distance_bias: 0.8
    goal_distance_bias: 0.3
    sim_time: 2.0

costmap_common_params.yaml

obstacle_range: 5.0
raytrace_range: 5.0
#footprint: [[-0.19, 0.17], [0.19, 0.17], [0.19, -0.17], [-0.19, -0.17]]
robot_radius: 0.165
fooprint_padding: 0.01
inflation_radius: 0.55
transform_tolerance: 1.0
observation_sources: base_scan
base_scan: {sensor_frame: base_laser, data_type: LaserScan, topic: base_scan, ma
rking: true, clearing: true}

global_costmap_params.yaml

global_costmap:
    global_frame: /map
    robot_base_frame: base_link
    update_frequency: 5.0
    static_map: true
    rolling_window: false

local_costmap_params.yaml

local_costmap:
    global_frame: /odom
    robot_base_frame: base_link
    update_frequency: 5.0
    publish_frequency: 2.0
    static_map: false
    rolling_window: true
    width: 4.0
    height: 4.0
    resolution: 0.05

move_base node dies - can't tell why

Hello ROS fans,

I am trying to get the navigation stack working with my new iRobot Create under Diamondback on Ubuntu 10.04. I am using the Brown irobot_create_2_1 package to drive the robot. I have successfully configured the navigation stack before for another robot under Cturtle so I thought it would be easy to transfer my parameter and launch files over to the Create. I am running the Master on the robot and RViz on my desktop. I have a Hokuyo laser scanner mounted on the Create. I can successfully view the robot and laser scan in RViz, and if I teleop the robot, I can watch it move in RViz. However when I run the following launch file, the move_base node dies within a few seconds.

<launch>
    <node pkg="move_base" type="move_base" respawn="false" name="move_base" outp
ut="screen">
        <rosparam file="$(find pi_kinectbot)/params/costmap_common_params.yaml" 
command="load" ns="global_costmap" />
        <rosparam file="$(find pi_kinectbot)/params/costmap_common_params.yaml" 
command="load" ns="local_costmap" />
        <rosparam file="$(find pi_kinectbot)/params/local_costmap_params.yaml" c
ommand="load" />
        <rosparam file="$(find pi_kinectbot)/params/global_costmap_params.yaml" 
command="load" />
        <rosparam file="$(find pi_kinectbot)/params/base_local_planner_params.ya
ml" command="load" />
   </node>
</launch>

The resulting log file is as follows:

[roscpp_internal] [2011-03-08 19:38:19,272] [thread 0xb681f740]: [DEBUG] UDPROS 
server listening on port [50340]
[roscpp_internal] [2011-03-08 19:38:19,312] [thread 0xb681f740]: [DEBUG] Started
 node [/move_base], pid [27330], bound on [192.168.1.6], xmlrpc port [55128], tc
pros port [48312], logging to [/home/patrick/.ros/log/37d28f70-49fc-11e0-b176-00
166f70860b/move_base-1.log], using [real] time
[roscpp_internal] [2011-03-08 19:38:19,317] [thread 0xb681f740]: [DEBUG] Publish
er update for [/tf]: http://192.168.1.6:60551/, http://192.168.1.6:35648/, http:
//192.168.1.6:49672/, http://192.168.1.6:41977/, http://192.168.1.6:39540/,  alr
eady have these connections: 
[roscpp_internal] [2011-03-08 19:38:19,317] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:60551]
[roscpp_internal] [2011-03-08 19:38:19,317] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:35648]
[roscpp_internal] [2011-03-08 19:38:19,318] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:49672]
[roscpp_internal] [2011-03-08 19:38:19,318] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:41977]
[roscpp_internal] [2011-03-08 19:38:19,318] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:39540]
[roscpp_internal] [2011-03-08 19:38:19,326] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [lookupService] returned an error (-1): [no provider]
[roscpp_internal] [2011-03-08 19:38:19,335] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [tf_prefix] i
n an upwards search]
[roscpp_internal] [2011-03-08 19:38:19,509] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/tf] at host [192.168.1.6:59146]
[roscpp_internal] [2011-03-08 19:38:19,510] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:59146] on socket [17]
[roscpp_internal] [2011-03-08 19:38:19,510] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/tf] at [192.168.1.6:59146]
[roscpp_internal] [2011-03-08 19:38:19,510] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/tf] at host [192.168.1.6:45661]
[roscpp_internal] [2011-03-08 19:38:19,511] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [19]
[roscpp_internal] [2011-03-08 19:38:19,511] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.6:43348]
[roscpp_internal] [2011-03-08 19:38:19,512] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:45661] on socket [18]
[roscpp_internal] [2011-03-08 19:38:19,512] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/tf] at [192.168.1.6:45661]
[roscpp_internal] [2011-03-08 19:38:19,513] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/tf] at host [192.168.1.6:37485]
[roscpp_internal] [2011-03-08 19:38:19,513] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/rosout] connected to [callerid
=[/rosout] address=[TCPROS connection to [192.168.1.6:43348 on socket 19]]]
[roscpp_internal] [2011-03-08 19:38:19,514] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:37485] on socket [20]
[roscpp_internal] [2011-03-08 19:38:19,514] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/tf] at [192.168.1.6:37485]
[roscpp_internal] [2011-03-08 19:38:19,514] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/tf] at host [192.168.1.6:46272]
[roscpp_internal] [2011-03-08 19:38:19,515] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:46272] on socket [21]
[roscpp_internal] [2011-03-08 19:38:19,515] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/tf] at [192.168.1.6:46272]
[roscpp_internal] [2011-03-08 19:38:19,515] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/tf] at host [192.168.1.6:53668]
[roscpp_internal] [2011-03-08 19:38:19,516] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:53668] on socket [22]
[roscpp_internal] [2011-03-08 19:38:19,516] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/tf] at [192.168.1.6:53668]
[roscpp_internal] [2011-03-08 19:38:19,891] [thread 0xb681f740]: [DEBUG] Publish
er update for [/move_base_simple/goal]: http://192.168.1.7:46858/,  already have
 these connections: 
[roscpp_internal] [2011-03-08 19:38:19,891] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.7:46858]
[roscpp_internal] [2011-03-08 19:38:19,918] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [tf_prefix] i
n an upwards search]
[roscpp_internal] [2011-03-08 19:38:19,923] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [12]
[roscpp_internal] [2011-03-08 19:38:19,924] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.6:43381]
[roscpp_internal] [2011-03-08 19:38:19,925] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/cmd_vel] connected to [calleri
d=[/create] address=[TCPROS connection to [192.168.1.6:43381 on socket 12]]]
[ros.costmap_2d] [2011-03-08 19:38:19,931] [thread 0xb681f740]: [INFO] Subscribe
d to Topics: base_scan
[ros.costmap_2d] [2011-03-08 19:38:19,985] [thread 0xb681f740]: [INFO] Requestin
g the map...

[roscpp_internal] [2011-03-08 19:38:19,994] [thread 0xb681f740]: [DEBUG] Publish
er update for [/map]: http://192.168.1.6:33136/,  already have these connections
: 
[roscpp_internal] [2011-03-08 19:38:19,995] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:33136]
[ros.costmap_2d] [2011-03-08 19:38:19,995] [thread 0xb681f740]: [INFO] Still wai
ting on map...

[roscpp_internal] [2011-03-08 19:38:20,021] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/move_base_simple/goal] at host [192.168.1.7:34422]
[roscpp_internal] [2011-03-08 19:38:20,021] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.7:34422] on socket [14]
[roscpp_internal] [2011-03-08 19:38:20,021] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/move_base_simple/goal] at [192.168.1.7:34422]
[roscpp_internal] [2011-03-08 19:38:20,122] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/map] at host [192.168.1.6:56532]
[roscpp_internal] [2011-03-08 19:38:20,122] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:56532] on socket [10]
[roscpp_internal] [2011-03-08 19:38:20,122] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/map] at [192.168.1.6:56532]
[roscpp_internal] [2011-03-08 19:38:20,125] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [11]
[roscpp_internal] [2011-03-08 19:38:20,125] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.4:56515]
[roscpp_internal] [2011-03-08 19:38:20,125] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/move_base/current_goal] connec
ted to [callerid=[/rviz_1299640935807127623] address=[TCPROS connection to [192.
168.1.4:56515 on socket 11]]]
[ros.costmap_2d] [2011-03-08 19:38:20,999] [thread 0xb681f740]: [INFO] Still wai
ting on map...

[ros.costmap_2d] [2011-03-08 19:38:22,016] [thread 0xb681f740]: [INFO] Received 
a 400 X 400 map at 0.050000 m/pix

[roscpp_internal] [2011-03-08 19:38:22,114] [thread 0xb681f740]: [DEBUG] Publish
er update for [/base_scan]: http://192.168.1.6:55701/,  already have these conne
ctions: 
[roscpp_internal] [2011-03-08 19:38:22,115] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:55701]
[roscpp_internal] [2011-03-08 19:38:22,145] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [footprint_pa
dding] in an upwards search]
[roscpp_internal] [2011-03-08 19:38:22,150] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [footprint] i
n an upwards search]
[roscpp_internal] [2011-03-08 19:38:22,230] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/base_scan] at host [192.168.1.6:55492]
[roscpp_internal] [2011-03-08 19:38:22,230] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:55492] on socket [15]
[roscpp_internal] [2011-03-08 19:38:22,231] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/base_scan] at [192.168.1.6:55492]
[roscpp_internal] [2011-03-08 19:38:22,301] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [tf_prefix] i
n an upwards search]
[ros.move_base] [2011-03-08 19:38:22,304] [thread 0xb681f740]: [INFO] MAP SIZE: 
400, 400
[roscpp_internal] [2011-03-08 19:38:22,307] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [tf_prefix] i
n an upwards search]
[ros.costmap_2d] [2011-03-08 19:38:22,320] [thread 0xb681f740]: [INFO] Subscribe
d to Topics: base_scan
[roscpp_internal] [2011-03-08 19:38:22,542] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [footprint_pa
dding] in an upwards search]
[roscpp_internal] [2011-03-08 19:38:22,544] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [footprint] i
n an upwards search]
[roscpp_internal] [2011-03-08 19:38:22,616] [thread 0xb681f740]: [DEBUG] Publish
er update for [/odom]: http://192.168.1.6:60551/,  already have these connection
s: 
[roscpp_internal] [2011-03-08 19:38:22,616] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:60551]
[ros.base_local_planner] [2011-03-08 19:38:22,652] [thread 0xb681f740]: [INFO] S
im period is set to 0.20
[roscpp_internal] [2011-03-08 19:38:22,742] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/odom] at host [192.168.1.6:59146]
[roscpp_internal] [2011-03-08 19:38:22,742] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:59146] on socket [26]
[roscpp_internal] [2011-03-08 19:38:22,742] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/odom] at [192.168.1.6:59146]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [13]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.4:56524]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/move_base/local_costmap/inflat
ed_obstacles] connected to [callerid=[/rviz_1299640935807127623] address=[TCPROS
 connection to [192.168.1.4:56524 on socket 13]]]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [16]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.4:56525]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/move_base/local_costmap/obstac
les] connected to [callerid=[/rviz_1299640935807127623] address=[TCPROS connecti
on to [192.168.1.4:56525 on socket 16]]]
[roscpp_internal] [2011-03-08 19:38:22,762] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [getParam] returned an error (-1): [Parameter [/move_base/TrajectoryPlanne
rROS/backup_vel] is not set]
[roscpp_internal] [2011-03-08 19:38:22,769] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [getParam] returned an error (-1): [Parameter [/move_base/TrajectoryPlanne
rROS/escape_vel] is not set]
[roscpp_internal] [2011-03-08 19:38:22,816] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [getParam] returned an error (-1): [Parameter [/move_base/TrajectoryPlanne
rROS/y_vels] is not set]
[roscpp_internal] [2011-03-08 19:38:22,858] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [23]
[roscpp_internal] [2011-03-08 19:38:22,858] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.4:56526]
[roscpp_internal] [2011-03-08 19:38:22,859] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [24]
[roscpp_internal] [2011-03-08 19:38:22,859] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.4:56527]
[roscpp_internal] [2011-03-08 19:38:22,859] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/move_base/TrajectoryPlannerROS
/global_plan] connected to [callerid=[/rviz_1299640935807127623] address=[TCPROS
 connection to [192.168.1.4:56526 on socket 23]]]
[roscpp_internal] [2011-03-08 19:38:22,859] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/move_base/TrajectoryPlannerROS
/local_plan] connected to [callerid=[/rviz_1299640935807127623] address=[TCPROS 
connection to [192.168.1.4:56527 on socket 24]]]
[roscpp_internal] [2011-03-08 19:38:23,026] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [getParam] returned an error (-1): [Parameter [/move_base/recovery_behavio
rs] is not set]
[roscpp_internal] [2011-03-08 19:38:23,089] [thread 0xb681f740]: [DEBUG] Publish
er update for [/move_base/goal]:  already have these connections: 
[roscpp_internal] [2011-03-08 19:38:23,089] [thread 0xb681f740]: [DEBUG] Creatin
g intraprocess link for topic [/move_base/goal]
[roscpp_internal] [2011-03-08 19:38:23,092] [thread 0xb681f740]: [DEBUG] Publish
er update for [/move_base/cancel]:  already have these connections: 
[ros.costmap_2d] [2011-03-08 19:38:23,092] [thread 0xb681f740]: [WARN] Message f
rom [/hokuyo] has a non-fully-qualified frame_id [base_laser]. Resolved locally 
to [/base_laser].  This is will likely not work in multi-robot systems.  This me
ssage will only print once.

My parameter files are as follows:

base_local_planner_params.yaml

TrajectoryPlannerROS:
    max_vel_x: 0.25
    min_vel_x: 0.05
    max_rotational_vel: 0.3
    min_in_place_rotational_vel: 0.15
    acc_lim_th: 5
    acc_lim_x: 3
    acc_lim_y: 3
    yaw_goal_tolerance: 0.1
    xy_goal_tolerance: 0.05
    controller_frequency: 5.0
    holonomic_robot: false
    path_distance_bias: 0.8
    goal_distance_bias: 0.3
    sim_time: 2.0

costmap_common_params.yaml

obstacle_range: 5.0
raytrace_range: 5.0
#footprint: [[-0.19, 0.17], [0.19, 0.17], [0.19, -0.17], [-0.19, -0.17]]
robot_radius: 0.165
fooprint_padding: 0.01
inflation_radius: 0.55
transform_tolerance: 1.0
observation_sources: base_scan
base_scan: {sensor_frame: base_laser, data_type: LaserScan, topic: base_scan, ma
rking: true, clearing: true}

global_costmap_params.yaml

global_costmap:
    global_frame: /map
    robot_base_frame: base_link
    update_frequency: 5.0
    static_map: true
    rolling_window: false

local_costmap_params.yaml

local_costmap:
    global_frame: /odom
    robot_base_frame: base_link
    update_frequency: 5.0
    publish_frequency: 2.0
    static_map: false
    rolling_window: true
    width: 4.0
    height: 4.0
    resolution: 0.05

UPDATE: Here is the output when running gdb on the move_base node:

Program received signal SIGILL, Illegal instruction.
pcl_ros::transformPointCloud<pcl::PointXYZ> (cloud_in=..., cloud_out=..., 
    transform=...)
    at /tmp/buildd/ros-diamondback-perception-pcl-0.10.0/debian/ros-diamondback-perception-pcl/opt/ros/diamondback/stacks/perception_pcl/pcl_ros/include/pcl_ros/impl/transforms.hpp:76
76      /tmp/buildd/ros-diamondback-perception-pcl-0.10.0/debian/ros-diamondback-perception-pcl/opt/ros/diamondback/stacks/perception_pcl/pcl_ros/include/pcl_ros/impl/transforms.hpp: No such file or directory.
        in /tmp/buildd/ros-diamondback-perception-pcl-0.10.0/debian/ros-diamondback-perception-pcl/opt/ros/diamondback/stacks/perception_pcl/pcl_ros/include/pcl_ros/impl/transforms.hpp

move_base node dies - can't tell why

Hello ROS fans,

I am trying to get the navigation stack working with my new iRobot Create under Diamondback on Ubuntu 10.04. I am using the Brown irobot_create_2_1 package to drive the robot. I have successfully configured the navigation stack before for another robot under Cturtle so I thought it would be easy to transfer my parameter and launch files over to the Create. I am running the Master on the robot and RViz on my desktop. I have a Hokuyo laser scanner mounted on the Create. I can successfully view the robot and laser scan in RViz, and if I teleop the robot, I can watch it move in RViz. However when I run the following launch file, the move_base node dies within a few seconds.

<launch>
    <node pkg="move_base" type="move_base" respawn="false" name="move_base" outp
ut="screen">
        <rosparam file="$(find pi_kinectbot)/params/costmap_common_params.yaml" 
command="load" ns="global_costmap" />
        <rosparam file="$(find pi_kinectbot)/params/costmap_common_params.yaml" 
command="load" ns="local_costmap" />
        <rosparam file="$(find pi_kinectbot)/params/local_costmap_params.yaml" c
ommand="load" />
        <rosparam file="$(find pi_kinectbot)/params/global_costmap_params.yaml" 
command="load" />
        <rosparam file="$(find pi_kinectbot)/params/base_local_planner_params.ya
ml" command="load" />
   </node>
</launch>

The resulting log file is as follows:

[roscpp_internal] [2011-03-08 19:38:19,272] [thread 0xb681f740]: [DEBUG] UDPROS 
server listening on port [50340]
[roscpp_internal] [2011-03-08 19:38:19,312] [thread 0xb681f740]: [DEBUG] Started
 node [/move_base], pid [27330], bound on [192.168.1.6], xmlrpc port [55128], tc
pros port [48312], logging to [/home/patrick/.ros/log/37d28f70-49fc-11e0-b176-00
166f70860b/move_base-1.log], using [real] time
[roscpp_internal] [2011-03-08 19:38:19,317] [thread 0xb681f740]: [DEBUG] Publish
er update for [/tf]: http://192.168.1.6:60551/, http://192.168.1.6:35648/, http:
//192.168.1.6:49672/, http://192.168.1.6:41977/, http://192.168.1.6:39540/,  alr
eady have these connections: 
[roscpp_internal] [2011-03-08 19:38:19,317] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:60551]
[roscpp_internal] [2011-03-08 19:38:19,317] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:35648]
[roscpp_internal] [2011-03-08 19:38:19,318] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:49672]
[roscpp_internal] [2011-03-08 19:38:19,318] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:41977]
[roscpp_internal] [2011-03-08 19:38:19,318] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:39540]
[roscpp_internal] [2011-03-08 19:38:19,326] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [lookupService] returned an error (-1): [no provider]
[roscpp_internal] [2011-03-08 19:38:19,335] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [tf_prefix] i
n an upwards search]
[roscpp_internal] [2011-03-08 19:38:19,509] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/tf] at host [192.168.1.6:59146]
[roscpp_internal] [2011-03-08 19:38:19,510] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:59146] on socket [17]
[roscpp_internal] [2011-03-08 19:38:19,510] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/tf] at [192.168.1.6:59146]
[roscpp_internal] [2011-03-08 19:38:19,510] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/tf] at host [192.168.1.6:45661]
[roscpp_internal] [2011-03-08 19:38:19,511] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [19]
[roscpp_internal] [2011-03-08 19:38:19,511] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.6:43348]
[roscpp_internal] [2011-03-08 19:38:19,512] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:45661] on socket [18]
[roscpp_internal] [2011-03-08 19:38:19,512] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/tf] at [192.168.1.6:45661]
[roscpp_internal] [2011-03-08 19:38:19,513] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/tf] at host [192.168.1.6:37485]
[roscpp_internal] [2011-03-08 19:38:19,513] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/rosout] connected to [callerid
=[/rosout] address=[TCPROS connection to [192.168.1.6:43348 on socket 19]]]
[roscpp_internal] [2011-03-08 19:38:19,514] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:37485] on socket [20]
[roscpp_internal] [2011-03-08 19:38:19,514] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/tf] at [192.168.1.6:37485]
[roscpp_internal] [2011-03-08 19:38:19,514] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/tf] at host [192.168.1.6:46272]
[roscpp_internal] [2011-03-08 19:38:19,515] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:46272] on socket [21]
[roscpp_internal] [2011-03-08 19:38:19,515] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/tf] at [192.168.1.6:46272]
[roscpp_internal] [2011-03-08 19:38:19,515] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/tf] at host [192.168.1.6:53668]
[roscpp_internal] [2011-03-08 19:38:19,516] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:53668] on socket [22]
[roscpp_internal] [2011-03-08 19:38:19,516] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/tf] at [192.168.1.6:53668]
[roscpp_internal] [2011-03-08 19:38:19,891] [thread 0xb681f740]: [DEBUG] Publish
er update for [/move_base_simple/goal]: http://192.168.1.7:46858/,  already have
 these connections: 
[roscpp_internal] [2011-03-08 19:38:19,891] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.7:46858]
[roscpp_internal] [2011-03-08 19:38:19,918] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [tf_prefix] i
n an upwards search]
[roscpp_internal] [2011-03-08 19:38:19,923] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [12]
[roscpp_internal] [2011-03-08 19:38:19,924] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.6:43381]
[roscpp_internal] [2011-03-08 19:38:19,925] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/cmd_vel] connected to [calleri
d=[/create] address=[TCPROS connection to [192.168.1.6:43381 on socket 12]]]
[ros.costmap_2d] [2011-03-08 19:38:19,931] [thread 0xb681f740]: [INFO] Subscribe
d to Topics: base_scan
[ros.costmap_2d] [2011-03-08 19:38:19,985] [thread 0xb681f740]: [INFO] Requestin
g the map...

[roscpp_internal] [2011-03-08 19:38:19,994] [thread 0xb681f740]: [DEBUG] Publish
er update for [/map]: http://192.168.1.6:33136/,  already have these connections
: 
[roscpp_internal] [2011-03-08 19:38:19,995] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:33136]
[ros.costmap_2d] [2011-03-08 19:38:19,995] [thread 0xb681f740]: [INFO] Still wai
ting on map...

[roscpp_internal] [2011-03-08 19:38:20,021] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/move_base_simple/goal] at host [192.168.1.7:34422]
[roscpp_internal] [2011-03-08 19:38:20,021] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.7:34422] on socket [14]
[roscpp_internal] [2011-03-08 19:38:20,021] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/move_base_simple/goal] at [192.168.1.7:34422]
[roscpp_internal] [2011-03-08 19:38:20,122] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/map] at host [192.168.1.6:56532]
[roscpp_internal] [2011-03-08 19:38:20,122] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:56532] on socket [10]
[roscpp_internal] [2011-03-08 19:38:20,122] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/map] at [192.168.1.6:56532]
[roscpp_internal] [2011-03-08 19:38:20,125] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [11]
[roscpp_internal] [2011-03-08 19:38:20,125] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.4:56515]
[roscpp_internal] [2011-03-08 19:38:20,125] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/move_base/current_goal] connec
ted to [callerid=[/rviz_1299640935807127623] address=[TCPROS connection to [192.
168.1.4:56515 on socket 11]]]
[ros.costmap_2d] [2011-03-08 19:38:20,999] [thread 0xb681f740]: [INFO] Still wai
ting on map...

[ros.costmap_2d] [2011-03-08 19:38:22,016] [thread 0xb681f740]: [INFO] Received 
a 400 X 400 map at 0.050000 m/pix

[roscpp_internal] [2011-03-08 19:38:22,114] [thread 0xb681f740]: [DEBUG] Publish
er update for [/base_scan]: http://192.168.1.6:55701/,  already have these conne
ctions: 
[roscpp_internal] [2011-03-08 19:38:22,115] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:55701]
[roscpp_internal] [2011-03-08 19:38:22,145] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [footprint_pa
dding] in an upwards search]
[roscpp_internal] [2011-03-08 19:38:22,150] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [footprint] i
n an upwards search]
[roscpp_internal] [2011-03-08 19:38:22,230] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/base_scan] at host [192.168.1.6:55492]
[roscpp_internal] [2011-03-08 19:38:22,230] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:55492] on socket [15]
[roscpp_internal] [2011-03-08 19:38:22,231] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/base_scan] at [192.168.1.6:55492]
[roscpp_internal] [2011-03-08 19:38:22,301] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [tf_prefix] i
n an upwards search]
[ros.move_base] [2011-03-08 19:38:22,304] [thread 0xb681f740]: [INFO] MAP SIZE: 
400, 400
[roscpp_internal] [2011-03-08 19:38:22,307] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [tf_prefix] i
n an upwards search]
[ros.costmap_2d] [2011-03-08 19:38:22,320] [thread 0xb681f740]: [INFO] Subscribe
d to Topics: base_scan
[roscpp_internal] [2011-03-08 19:38:22,542] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [footprint_pa
dding] in an upwards search]
[roscpp_internal] [2011-03-08 19:38:22,544] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [searchParam] returned an error (-1): [Cannot find parameter [footprint] i
n an upwards search]
[roscpp_internal] [2011-03-08 19:38:22,616] [thread 0xb681f740]: [DEBUG] Publish
er update for [/odom]: http://192.168.1.6:60551/,  already have these connection
s: 
[roscpp_internal] [2011-03-08 19:38:22,616] [thread 0xb681f740]: [DEBUG] Began a
synchronous xmlrpc connection to [192.168.1.6:60551]
[ros.base_local_planner] [2011-03-08 19:38:22,652] [thread 0xb681f740]: [INFO] S
im period is set to 0.20
[roscpp_internal] [2011-03-08 19:38:22,742] [thread 0xb601db70]: [DEBUG] Connect
ing via tcpros to topic [/odom] at host [192.168.1.6:59146]
[roscpp_internal] [2011-03-08 19:38:22,742] [thread 0xb601db70]: [DEBUG] Async c
onnect() in progress to [192.168.1.6:59146] on socket [26]
[roscpp_internal] [2011-03-08 19:38:22,742] [thread 0xb601db70]: [DEBUG] Connect
ed to publisher of topic [/odom] at [192.168.1.6:59146]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [13]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.4:56524]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/move_base/local_costmap/inflat
ed_obstacles] connected to [callerid=[/rviz_1299640935807127623] address=[TCPROS
 connection to [192.168.1.4:56524 on socket 13]]]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [16]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.4:56525]
[roscpp_internal] [2011-03-08 19:38:22,754] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/move_base/local_costmap/obstac
les] connected to [callerid=[/rviz_1299640935807127623] address=[TCPROS connecti
on to [192.168.1.4:56525 on socket 16]]]
[roscpp_internal] [2011-03-08 19:38:22,762] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [getParam] returned an error (-1): [Parameter [/move_base/TrajectoryPlanne
rROS/backup_vel] is not set]
[roscpp_internal] [2011-03-08 19:38:22,769] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [getParam] returned an error (-1): [Parameter [/move_base/TrajectoryPlanne
rROS/escape_vel] is not set]
[roscpp_internal] [2011-03-08 19:38:22,816] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [getParam] returned an error (-1): [Parameter [/move_base/TrajectoryPlanne
rROS/y_vels] is not set]
[roscpp_internal] [2011-03-08 19:38:22,858] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [23]
[roscpp_internal] [2011-03-08 19:38:22,858] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.4:56526]
[roscpp_internal] [2011-03-08 19:38:22,859] [thread 0xb681eb70]: [DEBUG] Accepte
d connection on socket [7], new socket [24]
[roscpp_internal] [2011-03-08 19:38:22,859] [thread 0xb681eb70]: [DEBUG] TCPROS 
received a connection from [192.168.1.4:56527]
[roscpp_internal] [2011-03-08 19:38:22,859] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/move_base/TrajectoryPlannerROS
/global_plan] connected to [callerid=[/rviz_1299640935807127623] address=[TCPROS
 connection to [192.168.1.4:56526 on socket 23]]]
[roscpp_internal] [2011-03-08 19:38:22,859] [thread 0xb681eb70]: [DEBUG] Connect
ion: Creating TransportSubscriberLink for topic [/move_base/TrajectoryPlannerROS
/local_plan] connected to [callerid=[/rviz_1299640935807127623] address=[TCPROS 
connection to [192.168.1.4:56527 on socket 24]]]
[roscpp_internal] [2011-03-08 19:38:23,026] [thread 0xb681f740]: [DEBUG] XML-RPC
 call [getParam] returned an error (-1): [Parameter [/move_base/recovery_behavio
rs] is not set]
[roscpp_internal] [2011-03-08 19:38:23,089] [thread 0xb681f740]: [DEBUG] Publish
er update for [/move_base/goal]:  already have these connections: 
[roscpp_internal] [2011-03-08 19:38:23,089] [thread 0xb681f740]: [DEBUG] Creatin
g intraprocess link for topic [/move_base/goal]
[roscpp_internal] [2011-03-08 19:38:23,092] [thread 0xb681f740]: [DEBUG] Publish
er update for [/move_base/cancel]:  already have these connections: 
[ros.costmap_2d] [2011-03-08 19:38:23,092] [thread 0xb681f740]: [WARN] Message f
rom [/hokuyo] has a non-fully-qualified frame_id [base_laser]. Resolved locally 
to [/base_laser].  This is will likely not work in multi-robot systems.  This me
ssage will only print once.

My parameter files are as follows:

base_local_planner_params.yaml

TrajectoryPlannerROS:
    max_vel_x: 0.25
    min_vel_x: 0.05
    max_rotational_vel: 0.3
    min_in_place_rotational_vel: 0.15
    acc_lim_th: 5
    acc_lim_x: 3
    acc_lim_y: 3
    yaw_goal_tolerance: 0.1
    xy_goal_tolerance: 0.05
    controller_frequency: 5.0
    holonomic_robot: false
    path_distance_bias: 0.8
    goal_distance_bias: 0.3
    sim_time: 2.0

costmap_common_params.yaml

obstacle_range: 5.0
raytrace_range: 5.0
#footprint: [[-0.19, 0.17], [0.19, 0.17], [0.19, -0.17], [-0.19, -0.17]]
robot_radius: 0.165
fooprint_padding: 0.01
inflation_radius: 0.55
transform_tolerance: 1.0
observation_sources: base_scan
base_scan: {sensor_frame: base_laser, data_type: LaserScan, topic: base_scan, ma
rking: true, clearing: true}

global_costmap_params.yaml

global_costmap:
    global_frame: /map
    robot_base_frame: base_link
    update_frequency: 5.0
    static_map: true
    rolling_window: false

local_costmap_params.yaml

local_costmap:
    global_frame: /odom
    robot_base_frame: base_link
    update_frequency: 5.0
    publish_frequency: 2.0
    static_map: false
    rolling_window: true
    width: 4.0
    height: 4.0
    resolution: 0.05

UPDATE: Here is the output when running gdb on the move_base node:

Program received signal SIGILL, Illegal instruction.
pcl_ros::transformPointCloud<pcl::PointXYZ> (cloud_in=..., cloud_out=..., 
    transform=...)
    at /tmp/buildd/ros-diamondback-perception-pcl-0.10.0/debian/ros-diamondback-perception-pcl/opt/ros/diamondback/stacks/perception_pcl/pcl_ros/include/pcl_ros/impl/transforms.hpp:76
76      /tmp/buildd/ros-diamondback-perception-pcl-0.10.0/debian/ros-diamondback-perception-pcl/opt/ros/diamondback/stacks/perception_pcl/pcl_ros/include/pcl_ros/impl/transforms.hpp: No such file or directory.
        in /tmp/buildd/ros-diamondback-perception-pcl-0.10.0/debian/ros-diamondback-perception-pcl/opt/ros/diamondback/stacks/perception_pcl/pcl_ros/include/pcl_ros/impl/transforms.hpp