"Unable to lookup transform, cache is empty" error while running navigation stack [closed]
I am trying to run the navigation stack with a map built with gmapping. I followed the navigation stack tutorial (the RobotSetup one). The ROS version is Groovy.
Then, after I run the navigation launch file (as indicated in the tutorial), the terminal repeatedly reports an error:
[ERROR] [1385493617.133940604]: Extrapolation Error: Unable to lookup transform, cache is empty, when looking up transform from frame [/odom] to frame [/map]
[ERROR] [1385493616.634300392]: Global Frame: /odom Plan Frame size 130: /map
[ WARN] [1385493616.634367789]: Could not transform the global plan to the frame of the controller
This is the entire output when the launch file is run:
bernardo@bernardo-Satellite-U400:~$ roslaunch robot socrob_nav.launch
... logging to /home/bernardo/.ros/log/38199960-56c9-11e3-abee-0022fa36e240/roslaunch- bernardo-Satellite-U400-7044.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.
WARNING: ignoring defunct <master/> tag
started roslaunch server
SUMMARY
========
PARAMETERS
/amcl/gui_publish_rate
/amcl/kld_err
/amcl/kld_z
/amcl/laser_lambda_short
/amcl/laser_likelihood_max_dist
/amcl/laser_max_beams
/amcl/laser_model_type
/amcl/laser_sigma_hit
/amcl/laser_z_hit
/amcl/laser_z_max
/amcl/laser_z_rand
/amcl/laser_z_short
/amcl/max_particles
/amcl/min_particles
/amcl/odom_alpha1
/amcl/odom_alpha2
/amcl/odom_alpha3
/amcl/odom_alpha4
/amcl/odom_alpha5
/amcl/odom_frame_id
/amcl/odom_model_type
/amcl/recovery_alpha_fast
/amcl/recovery_alpha_slow
/amcl/resample_interval
/amcl/transform_tolerance
/amcl/update_min_a
/amcl/update_min_d
/move_base/TrajectoryPlannerROS/acc_lim_th
/move_base/TrajectoryPlannerROS/acc_lim_x
/move_base/TrajectoryPlannerROS/acc_lim_y
/move_base/TrajectoryPlannerROS/holonomic_robot
/move_base/TrajectoryPlannerROS/max_rotational_vel
/move_base/TrajectoryPlannerROS/max_vel_x
/move_base/TrajectoryPlannerROS/min_in_place_rotational_vel
/move_base/TrajectoryPlannerROS/min_vel_x
/move_base/global_costmap/global_frame
/move_base/global_costmap/inflation_radius
/move_base/global_costmap/observation_sources
/move_base/global_costmap/obstacle_range
/move_base/global_costmap/raytrace_range
/move_base/global_costmap/robot_base_frame
/move_base/global_costmap/robot_radius
/move_base/global_costmap/scan/clearing
/move_base/global_costmap/scan/data_type
/move_base/global_costmap/scan/marking
/move_base/global_costmap/scan/sensor_frame
/move_base/global_costmap/scan/topic
/move_base/global_costmap/static_map
/move_base/global_costmap/update_frequency
/move_base/local_costmap/global_frame
- /move_base/local_costmap/height
/move_base/local_costmap/inflation_radius
/move_base/local_costmap/observation_sources
/move_base/local_costmap/obstacle_range
/move_base/local_costmap/publish_frequency
/move_base/local_costmap/raytrace_range
- /move_base/local_costmap/resolution
/move_base/local_costmap/robot_base_frame
/move_base/local_costmap/robot_radius
/move_base/local_costmap/rolling_window
/move_base/local_costmap/scan/clearing
/move_base/local_costmap/scan/data_type
/move_base/local_costmap/scan/marking
/move_base/local_costmap/scan/sensor_frame
/move_base/local_costmap/scan/topic
/move_base/local_costmap/static_map
/move_base/local_costmap/update_frequency
/move_base/local_costmap/width
/rosdistro
/rosversion
NODES
amcl amcl/amcl map_server map_server/map_server move_base move_base/move_base
ROS_MASTER_URI=localhost:11311
core service [/rosout] found
process[map_server-1]: started with pid [7062]
process[amcl-2]: started with pid [7073]
process[move_base-3]: started with pid [7131]
[ INFO] [1385493581.630936693]: Subscribed to Topics: scan
[ INFO] [1385493581.655936869]: Requesting the map...
[ INFO] [1385493581.659333183]: Still waiting on map...
[ INFO] [1385493582.773607633]: Still waiting on map...
[ WARN] [1385493583.671941771]: You have set map parameters, but also requested to use the static map. Your parameters will be overwritten by those given by the map server
[ INFO] [1385493583.672129574]: Received a 4000 X 4000 map at 0.050000 m/pix
[ INFO] [1385493591.795893428]: MAP SIZE: 4000, 4000
[ INFO] [1385493591.801992736]: Subscribed to Topics: scan
[ INFO] [1385493592.044804060]: Sim period is set to 0.05
[ WARN] [1385493592.055956104]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
[ WARN] [1385493592 ...
Similar thread: http://answers.ros.org/question/106996/hydro-move_basetf2-extrapolation-error-into-the-future-errror/ . I posted my "solution" there. Could you check your transformation timings?