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Hello. I have a simple tf-tree (sorry, i have not enough point to download picture). May be it is available here.

If no: tf-tree is map -> odom -> base_link -> lazer. When i launch file with gmapping, not always there is an error:

Transform failed during publishing of map_odom transform: Lookup would require extrapolation into the future. Requested time 1436451359.820962500 but the latest data is at time 1436451359.720510500, when looking up transform from frame [base_link] to frame [odom].

It happens not always. But when after this file i launch the other contais hector_exploration_node, hector_exploration_planner and hector_costmap, it happens every time.

I changed the use_sim_time parameter: if it is false, there is the error, else there isn't error, but the navigation part(second launch file) only starts and doesn't work (freezes). I did this diagnostic. It works properly.

Edit:

Fist launch file:

<launch>

<node pkg="bot" type="tf_sender.py" name="tf_sender"> </node>

<node pkg="bot" type="vel_sender.py" name="vel_sender"> </node>

<node pkg="hokuyo_node" type="hokuyo_node" name="lidar"> </node>

<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/>

<node pkg="hector_mapping" type="hector_mapping" name="gmapping"> </node>

<node pkg="turtlesim" type="turtle_teleop_key" name="teleop"/> </launch>

Second:

<launch>

<!--node name="static_tf0" pkg="tf"

type="static_transform_publisher" args="2 0 0 0 0 0 /map /base_link 100"/-->

<node pkg="hector_exploration_node" type="exploration_planner_node" <br=""> name="hector_exploration_node" output="screen"> <rosparam file="$(find hector_exploration_node)/config/costmap.yaml" command="load"/> <rosparam file="$(find navigation_car)/costmap_common_params.yaml" command="load" ns="global_costmap"/> <rosparam file="$(find navigation_car)/costmap_common_params.yaml" command="load" ns="local_costmap"/> <rosparam file="$(find navigation_car)/local_costmap_params.yaml" command="load" ns="local_costmap"/> <rosparam file="$(find navigation_car)/global_costmap_params.yaml" command="load" ns="global_costmap"/> <rosparam file="$(find navigation_car)/base_local_planner_params.yaml" command="load"/> <rosparam file="$(find navigation_car)/minimal.yaml" command="load" ns="/costmap_node/costmap"/>

</node>

<node pkg="hector_exploration_controller" type="simple_exploration_controller" name="hector_exploration_controller" output="screen" respawn="true">
<remap from="/cmd_vel" to="/turtle1/cmd_vel"/> </node>

<node pkg="hector_costmap" type="hector_costmap" name="hector_costmap" output="screen" respawn="false">

<!-- Costmap parameters -->
<param name="use_elevation_map" value="false" />
<param name="use_grid_map" value="true" />
<param name="use_cloud_map" value="false" />

<param name="initial_free_cells_radius"

value="0.3" /> </node>

</launch>

It is near with odom and base_link frame. There isn't any coordinate system in the centre of offset static map

I set the parameters /move_base/global_costmap/origin_x and /move_base/global_costmap/origin_y -50.0 and -50.0 (width is 100.0), becouse the robot was in angle of global map (parameters were 0.0 and 0.0). But it still have been in angle (the static map from map_server is on picture). In local costmap the parameters are same. And the robot is in the centre of it.

I didn't change them, so they are zeros (x and y origin). Ok, i will assign a -5 its.

When i launch move_base for navigation stack it gives:

[WARN] [1436954622.771961072]: The origin for the sensor at (0.17, -0.19) is out of map bounds. So, the costmap cannot raytrace for it.

The tf_tree is normal:

At time 1436956287.222 - Translation: [0.000, 0.000, 0.035] - Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000] in RPY (radian) [0.000, -0.000, 0.000] in RPY (degree) [0.000, -0.000, 0.000]

At time 1436956288.221 - Translation: [0.000, 0.000, 0.035] - Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000] in RPY (radian) [0.000, -0.000, 0.000] in RPY (degree) [0.000, -0.000, 0.000]

The size of costmap is 100x100. Footprint is [ [-0.113, 0.123],[0.113, 0.123],[0.113, -0.123], [-0.113, -0.123] ] The param "rolling_window" is true. In RVIZ costmap is in bounds (grey square). It also seems me a strange

i corrected the code. Now it give on error (see edit).

I try to send odom message: The code is, but it gives me an error:

Exception in thread Thread-1:
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
    self.run()
File "/opt/ros/indigo/lib/python2.7/dist-packages/tf/listener.py", line 237, in run
    self.last_update_ros_time = rospy.Time.now()   
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/rostime.py", line 155, in now
    return get_rostime()   
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/rostime.py", line 209, in get_rostime
    raise rospy.exceptions.ROSInitException("time is not initialized. Have you called init_node()?")
ROSInitException: time is not initialized. Have you called init_node()?

[INFO] [WallTime: 1436785911.264067]
Starting odom node Traceback (most recent call last):
   File "/home/robotics/Documents/ros/src/navigation_car/odom_sender.py", line 49, in <module>
    trans,rot = tf_listener.lookupTransform(odom_frame, base_frame, current_time )
tf.LookupException: "odom" passed to lookupTransform argument target_frame does not exist.

Tf-tree is normal, tf-echo odom base_link works properly

Edit 0:

Traceback (most recent call last):
File "/home/robotics/Documents/ros/src/navigation_car/odom_sender.py", line 51, in <module> trans,rot = tf_listener.lookupTransform(odom_frame, base_frame, rospy.Time() ) tf.LookupException: "odom" passed to lookupTransform argument target_frame does not exist.

Edit 1: new error:

Traceback (most recent call last):
File "/home/robotics/Documents/ros/src/navigation_car/odom_sender.py", line 66, in <module> odom_pub.publish(odom) File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 843, in publish self.impl.publish(data) File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 1027, in publish serialize_message(b, self.seq, message) File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/msg.py", line 152, in serialize_message msg.serialize(b) File "/opt/ros/indigo/lib/python2.7/dist-packages/nav_msgs/msg/_Odometry.py", line 167, in serialize buff.write(_struct_7d.pack(_x.pose.pose.position.x, _x.pose.pose.position.y, _x.pose.pose.position.z, _x.pose.pose.orientation.x, _x.pose.pose.orientation.y, _x.pose.pose.orientation.z, _x.pose.pose.orientation.w)) AttributeError: 'tuple' object has no attribute 'x'

Edit 2: All is well) This is code

"The navigation stack can only handle a differential drive and holonomicwheeled robots. The shape of the robot must be either a square or a rectangle. "

But i have a platform, can move forward,backward and turn to the right and left (i.e. it can't move to the left or right - perpendicular to the length, without facing) . Slam gmapping work well on it.