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2017-01-02 14:10:42 -0500 answered a question Two Robots on a single Roscore

Update: I was able to connect the graphs by adding a static transform from /map to peoplebot/odom (see image below)

image description

I am now getting the errors:

[WARN] [1483387554.490771420]: The driver/sonar observation buffer has not been updated for 2.07 seconds, and it should be updated every 1.00 second.
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2017-01-02 11:15:07 -0500 commented question Two Robots on a single Roscore

Thank you for the Karma. I have edited the post!


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2017-01-01 21:06:53 -0500 asked a question Two Robots on a single Roscore

Hello and happy new year :)

I am trying to run Peoplebot and Fetch on the same ROS master. I have attempted to use a tf_prefix so there wouldn't be a conflict in the TF tree. However, when I add the tf_prefix "peoplebot" to the global scope in peoplebot's launch file, I get this error:

[WARN [1483314575.427997796]: Timed out waiting for transform from peoplebot/base_link to map to become available before running costmap, tf error: . canTransform returned after 0.101242 timeout was 0.1.

My questions are:

  1. Is tf_prefix the right approach for running multiple robots on a single core or is there a cleaner solution I'm overlooking?
  2. Any suggestions how I can solve this problem? I've been jimmying around with my launch files for over 10 hours now with no avail..

Here is my tf tree before adding the prefix: Original TF Tree

Here is my tf tree, now disconnected, after adding the global tf_prefix="peoplebot": TF Tree with tf_prefix

Also, I was able to get the tf tree connected by changing a few other things in the launch file, but still the map doesn't spawn: TF tree after changing laser/sonar's launch

Let me know if there's any other information I can provide. Thanks for your help :)