maziarser's profile - activity

I am new in working with Turtlebot 3 and ROS.

I am working with TurtleBot 3-Burger (Rasberry Pi 3) and ROS Kinetic.

I have a lunch file to lunch all my necessary nodes. When I run the lunch file in the workstation PC, I will get this error:

Warning: TF_OLD_DATA ignoring data from the past for frame base_link at time 26.5 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
     at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.16/src/buffer_core.cpp

I run roscore on the workstation PC and run roslaunch turtlebot3_bringup turtlebot3_robot.launch on robot PC. Then, I launch mt launch file.

My launch file code:

<!-- PC: roscore-->
<!-- ROBOT: roslaunch turtlebot3_bringup turtlebot3_robot.launch-->

<!-- PC-run this launcher: roslaunch tb3Navigation mapNavigation.launch !!!!!-->
<!-- PC-run the code: rosrun tb3Navigation map_navigation !!!!!-->

<launch>
  <param name="use_sim_time" value="true"/>

  <!-- roslaunch turtlebot3_bringup turtlebot3_model.launch-->
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger]"/>
  <include file="$(find turtlebot3_bringup)/launch/includes/description.launch.xml">
    <arg name="model" value="$(arg model)" />
  </include>

 <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
    <param name="publish_frequency" type="double" value="50.0" />
  </node>

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="use_gui" value="true"/>
  </node>

  <!--<node name="rviz1" pkg="rviz" type="rviz" args="-d $(find turtlebot3_description)/rviz/model.rviz"/>-->

  <!-- Map -->
  <!-- call Map and World file -->
  <arg name="map_file"       default=" $(find tb3Navigation)/maps/mapFloor01.yaml"/>
  <arg name="world_file"     default=" $(find tb3Navigation)/maps/stage/mapFloor01.world"/>

 <!-- Stage -->
  <node pkg="stage_ros" type="stageros" name="stageros" args="$(arg world_file)">
    <param name="base_watchdog_timeout" value="0.5"/>
    <remap from="odom" to="odom"/>
    <remap from="base_pose_ground_truth" to="base_pose_ground_truth"/>
    <remap from="cmd_vel" to="mobile_base/commands/velocity"/>
    <remap from="base_scan" to="scan"/>
  </node> 

<node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>
  <node pkg="nodelet" type="nodelet" name="cmd_vel_mux" args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">
    <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>
    <remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>
  </node>

  <!-- Map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
    <param name="frame_id" value="/map"/>
  </node>

  <!-- need to change -->
  <arg name="initial_pose_x" default="3.31"/>
  <arg name="initial_pose_y" default="4.20"/>
  <arg name="initial_pose_a" default="0.0"/>

  <!-- AMCL - the first location -->
  <include file="$(find turtlebot3_navigation)/launch/amcl.launch.xml">
    <arg name="scan_topic" value="scan"/>
    <!--<arg name="use_map_topic" value="true"/>-->
    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
  </include>

  <!-- Move_base -->
  <arg name="cmd_vel_topic" default="/cmd_vel" />
  <arg name="odom_topic" default="odom" />
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />

    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params.yaml" command="load" />

    <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
    <remap from="odom ...