target_frame map does not exist
HI, I have a problem with, in my opinion, read map through move_base node.
When I launch my move_base.launch I got a WARN:
[ WARN] [1559215881.016792500, 588.765000000]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 588.765 timeout was 0.1.
But next communicats are:
[ INFO] [1559215882.172031593, 589.785000000]: Using plugin "static"
[ INFO] [1559215882.193340817, 589.801000000]: Requesting the map...
[ INFO] [1559215882.456086100, 590.027000000]: Resizing costmap to 4000 X 4000 at 0.050000 m/pix
[ INFO] [1559215882.590548878, 590.134000000]: Received a 4000 X 4000 map at 0.050000 m/pix
[ INFO] [1559215882.590664833, 590.135000000]: Subscribing to updates
[ INFO] [1559215882.608805401, 590.144000000]: Using plugin "inflation"
[ INFO] [1559215882.810460955, 590.298000000]: Using plugin "obstacles_laser"
[ INFO] [1559215882.815282109, 590.302000000]: Subscribed to Topics: laser
[ INFO] [1559215882.876871143, 590.351000000]: Using plugin "inflation"
[ INFO] [1559215882.971461633, 590.425000000]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1559215882.990769389, 590.442000000]: Sim period is set to 0.05
[ INFO] [1559215883.263756661, 590.676000000]: Recovery behavior will clear layer obstacles
[ INFO] [1559215883.278203387, 590.686000000]: Recovery behavior will clear layer obstacles
[ INFO] [1559215883.503132378, 590.831000000]: odom received!
In my map.yaml I have direct path to map.pgm
I do not know if this is a problem or not because:
When I use DWAPlannerROS and send a goal in rviz, my model isn't moving, and move_base send a communicat: DWA planner failed to produce path
When I use TrajectoryPlannerROS and send a goal in rviz, my model is moving, but not to a goal just somewhere on the map and smoetimes appears communicat: [ WARN] [1559217281.143489606, 1767.469000000]: Map update loop missed its desired rate of 4.0000Hz... the loop actually took 0.2680 seconds
I use p3dx model, on ROS Melodic, Ubuntu 18.04
EDIT:
costmap_common.yaml:
footprint: [[0.07, 0.19], [0.17, 0.08], [0.17, -0.08], [0.07, -0.19], [-0.07, -0.19], [-0.09, -0.16], [-0.19, -0.16], [-0.26, -0.05], [-0.26, 0.05], [-0.19, 0.16], [-0.09, 0.16], [-0.07, 0.19]]
footprint_padding: 0.01
robot_base_frame: base_link
update_frequency: 2.0
publish_frequency: 3.0
transform_tolerance: 0.5
resolution: 0.05
obstacle_range: 5.5
raytrace_range: 6.0
#layer definitions
static:
map_topic: /map
subscribe_to_updates: true
obstacles_laser:
observation_sources: laser
laser: {data_type: LaserScan, clearing: true, marking: true, topic: /p3dx/laser/scan, inf_is_valid: true}
inflation:
inflation_radius: 1.0
costmap_local.yaml
global_frame: map
rolling_window: true
plugins:
- {name: obstacles_laser, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
global_costmap.yaml
global_frame: map
rolling_window: false
track_unknown_space: true
static_map: true
plugins:
- {name: static, type: "costmap_2d::StaticLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
planner.yaml
controller_frequency: 2.0
recovery_behaviour_enabled: true
NavfnROS:
allow_unknown: true
default_tolerance: 0.1
TrajectoryPlannerROS:
# Robot Configuration Parameters
acc_lim_x: 2.5
acc_lim_theta: 3.2
max_vel_x: 1.0
min_vel_x: 0.0
max_vel_theta: 1.0
min_vel_theta: -1.0
min_in_place_vel_theta: 0.2
holonomic_robot: false
escape_vel: -0.1
# Goal Tolerance Parameters
yaw_goal_tolerance ...
I don't know about the first one but for:
Map update loop missed its desired rate of 4.0000Hz... the loop actually took 0.2680 seconds
I think you need to reduce the control loop speed to like 10 Hz or 2 Hz
I change to 2 Hz and warrning doesn't appear, so thank :) But I still can't reach a goal ;/
did it give anything? any error message? also have you successfully do the 2d nav button on rviz?
it would be nice if you upload your files too
I'm so sorry, i don't saw your answer. No, model is moving to the some place on the map, but not to the goal. I set goal via rviz 2DNavGoal, but I don't have any error message, model still looking for path to the goal, got to the some place (out of the path to the goal).
Okej, I upload my config files
@aefka@Usui were you able to solve this problem? I am stuck with the same