Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

chapter 6: Waiting on transform from /base_footprint to /map to become available before running costmap, tf error: #15

Open
stevealbertwong opened this issue Apr 11, 2018 · 3 comments
Open

chapter 6: Waiting on transform from /base_footprint to /map to become available before running costmap, tf error: #15

stevealbertwong opened this issue Apr 11, 2018 · 3 comments

Comments

@stevealbertwong
Copy link

stevealbertwong commented Apr 11, 2018 •
edited
Loading

I am running roslaunch chapter6_tutorials move_base.launch on kinetic
it seems to be a issue happened before but I could not find answer on how it is solved.

https://answers.ros.org/question/224242/tf-transformation-with-move_base/
https://answers.ros.org/question/195175/waiting-on-transform-from-base_footprint-to-map-to-become-available-before-running-costmap-tf-error/
AaronMR/Learning_ROS_for_Robotics_Programming_2nd_edition#17

this is my log
2018-04-11 20:02:02 ⌚ steve-ThinkPad-X220 in ~/dev/catkin_ws
± |master ✓| → roslaunch chapter6_tutorials move_base.launch
... logging to /home/steve/.ros/log/9a3117c6-3d7f-11e8-a81a-a088b4e53910/roslaunch-steve-ThinkPad-X220-9931.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://steve-ThinkPad-X220:42859/

SUMMARY

PARAMETERS

  • /amcl/gui_publish_rate: 10.0
  • /amcl/kld_err: 0.05
  • /amcl/kld_z: 0.99
  • /amcl/laser_lambda_short: 0.1
  • /amcl/laser_likelihood_max_dist: 2.0
  • /amcl/laser_max_beams: 30
  • /amcl/laser_model_type: likelihood_field
  • /amcl/laser_sigma_hit: 0.2
  • /amcl/laser_z_hit: 0.5
  • /amcl/laser_z_max: 0.05
  • /amcl/laser_z_rand: 0.5
  • /amcl/laser_z_short: 0.05
  • /amcl/max_particles: 5000
  • /amcl/min_particles: 500
  • /amcl/odom_alpha1: 0.2
  • /amcl/odom_alpha2: 0.2
  • /amcl/odom_alpha3: 0.8
  • /amcl/odom_alpha4: 0.2
  • /amcl/odom_alpha5: 0.1
  • /amcl/odom_frame_id: odom
  • /amcl/odom_model_type: diff
  • /amcl/recovery_alpha_fast: 0.0
  • /amcl/recovery_alpha_slow: 0.0
  • /amcl/resample_interval: 1
  • /amcl/transform_tolerance: 0.1
  • /amcl/update_min_a: 0.5
  • /amcl/update_min_d: 0.2
  • /move_base/TrajectoryPlannerROS/acc_lim_th: 3.2
  • /move_base/TrajectoryPlannerROS/acc_lim_x: 2.5
  • /move_base/TrajectoryPlannerROS/acc_lim_y: 2.5
  • /move_base/TrajectoryPlannerROS/holonomic_robot: False
  • /move_base/TrajectoryPlannerROS/max_rotational_vel: 0.15
  • /move_base/TrajectoryPlannerROS/max_vel_theta: 0.15
  • /move_base/TrajectoryPlannerROS/max_vel_x: 0.2
  • /move_base/TrajectoryPlannerROS/min_in_place_rotational_vel: 0.01
  • /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.01
  • /move_base/TrajectoryPlannerROS/min_vel_theta: -0.15
  • /move_base/TrajectoryPlannerROS/min_vel_x: 0.05
  • /move_base/controller_frequency: 10.0
  • /move_base/controller_patiente: 15.0
  • /move_base/global_costmap/cost_scaling_factor: 10.0
  • /move_base/global_costmap/footprint: [[-0.2, -0.2], [-...
  • /move_base/global_costmap/global_frame: /map
  • /move_base/global_costmap/inflation_radius: 0.5
  • /move_base/global_costmap/observation_sources: scan
  • /move_base/global_costmap/obstacle_range: 2.5
  • /move_base/global_costmap/raytrace_range: 3.0
  • /move_base/global_costmap/robot_base_frame: /base_footprint
  • /move_base/global_costmap/scan/clearing: True
  • /move_base/global_costmap/scan/data_type: LaserScan
  • /move_base/global_costmap/scan/marking: True
  • /move_base/global_costmap/scan/max_obstacle_height: 0.4
  • /move_base/global_costmap/scan/min_obstacle_height: 0.0
  • /move_base/global_costmap/scan/observation_persistence: 0.0
  • /move_base/global_costmap/scan/sensor_frame: base_link
  • /move_base/global_costmap/scan/topic: /scan
  • /move_base/global_costmap/static_map: True
  • /move_base/global_costmap/update_frequency: 1.0
  • /move_base/local_costmap/cost_scaling_factor: 10.0
  • /move_base/local_costmap/footprint: [[-0.2, -0.2], [-...
  • /move_base/local_costmap/global_frame: /map
  • /move_base/local_costmap/height: 5.0
  • /move_base/local_costmap/inflation_radius: 0.5
  • /move_base/local_costmap/observation_sources: scan
  • /move_base/local_costmap/obstacle_range: 2.5
  • /move_base/local_costmap/planner_frequency: 1.0
  • /move_base/local_costmap/planner_patiente: 5.0
  • /move_base/local_costmap/publish_frequency: 2.0
  • /move_base/local_costmap/raytrace_range: 3.0
  • /move_base/local_costmap/resolution: 0.02
  • /move_base/local_costmap/robot_base_frame: /base_footprint
  • /move_base/local_costmap/rolling_window: True
  • /move_base/local_costmap/scan/clearing: True
  • /move_base/local_costmap/scan/data_type: LaserScan
  • /move_base/local_costmap/scan/marking: True
  • /move_base/local_costmap/scan/max_obstacle_height: 0.4
  • /move_base/local_costmap/scan/min_obstacle_height: 0.0
  • /move_base/local_costmap/scan/observation_persistence: 0.0
  • /move_base/local_costmap/scan/sensor_frame: base_link
  • /move_base/local_costmap/scan/topic: /scan
  • /move_base/local_costmap/static_map: False
  • /move_base/local_costmap/tranform_tolerance: 0.5
  • /move_base/local_costmap/update_frequency: 5.0
  • /move_base/local_costmap/width: 5.0
  • /rosdistro: kinetic
  • /rosversion: 1.12.13

NODES
/
amcl (amcl/amcl)
map_server (map_server/map_server)
move_base (move_base/move_base)

ROS_MASTER_URI=http://localhost:11311

process[map_server-1]: started with pid [9948]
process[amcl-2]: started with pid [9949]
process[move_base-3]: started with pid [9951]
[ INFO] [1523448893.588287083]: Loading map from image "/home/steve/dev/catkin_ws/src/chapter6_tutorials/maps/map.pgm"
[ WARN] [1523448893.680908610]: ignoring NAN in initial pose X position
[ WARN] [1523448893.683735113]: ignoring NAN in initial pose Y position
[ INFO] [1523448893.732907166]: Requesting the map...
[ WARN] [1523448893.733614535]: Request for map failed; trying again...
[ INFO] [1523448893.792339989]: Read a 4000 X 4000 map @ 0.050 m/cell
[ INFO] [1523448894.253528562]: Sending map
[ INFO] [1523448894.286647263]: Received a 4000 X 4000 map @ 0.050 m/pix

[ WARN] [1523448894.837868726]: ignoring NAN in initial pose X position
[ WARN] [1523448894.839484492]: ignoring NAN in initial pose Y position
[ INFO] [1523448894.852266034]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1523448895.350413585]: Done initializing likelihood field model.
[ WARN] [1523448898.794508792]: 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: source_frame base_footprint does not exist.. canTransform returned after 0.101473 timeout was 0.1.
[ WARN] [1523448903.862222936]: 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: source_frame base_footprint does not exist.. canTransform returned after 0.101284 timeout was 0.1.
[ WARN] [1523448908.920670194]: 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: source_frame base_footprint does not exist.. canTransform returned after 0.101244 timeout was 0.1.
[ WARN] [1523448910.476452149]: No laser scan received (and thus no pose updates have been published) for 1523448910.476290 seconds. Verify that data is being published on the /scan topic.
[ WARN] [1523448913.988248548]: 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: source_frame base_footprint does not exist.. canTransform returned after 0.101114 timeout was 0.1.

node graph:
screenshot from 2018-04-13 12-31-36

37072361-f42a2b72-21fb-11e8-92ad-836125f6ce8e

I implemented a quick fix which is run the odometry.cpp. The robot does move but in a artificially predefined way by odometry.cpp.

screenshot from 2018-04-12 17-54-23

screenshot from 2018-04-13 12-12-19

I wonder how could implement sendgoals.cpp and make the robot runs with a goal on map according to global and local planning with obstacles avoidance.
@stevealbertwong
Copy link
Author

I have fixed the warnning of [ WARN] [1523448910.476452149]: No laser scan received (and thus no pose updates have been published) for 1523448910.476290 seconds. Verify that data is being published on the /scan topic.
[ WARN] [1523448913.988248548]: 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: source_frame base_footprint does not exist.. canTransform returned after 0.101114 timeout was 0.1.
by adding to launch file
static_transform_publisher and mapped map to odom, odom to base_footprint
but i still have the issue when i give it a direction/goal, it does not move.
i wonder its because of my config if local planner or other files ?

@Xunzhaocunzi
Copy link

Xunzhaocunzi commented Oct 31, 2018 •
edited
Loading

I have the exactly same issue. Help please.

In addition, when I run "roslaunch chapter6_tutorials chapter6_configuration_gazebo.launch", I got something like this, rather than the contents shown in the book:
screenshot from 2018-10-31 00-51-25

For instance, my model did not have "Robot Footprint", "Global Panner", etc.

I guess that was caused by using different "chapter6_configuration_gazebo.launch" file.

Can authors update the files for chapter6? Thank you.

@wx0205
Copy link

wx0205 commented Dec 13, 2018

I have the exactly same issue. Help please.Could you tell me how to solve it？Thank you!
@stevealbertwong

@sibafb sibafb mentioned this issue Oct 16, 2021
Open
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
3 participants
@stevealbertwong @Xunzhaocunzi @wx0205