Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: source_frame base_footprint does not exist.

asked 2021-11-12 07:25:43 -0600

WarTurtle
170 ●9 ●24 ●27

updated 2022-03-08 06:57:15 -0600

8729 ●137 ●239 ●256 https://github.com/lucasw

Hello, I am trying to launch a navigation stack on multiple robots, so they can navigate autonomously in gazebo. I have cloned the following turtlebot3 githubs to access models, descriptions, costmaps, and how to set up the launch files.

https://github.com/ROBOTIS-GIT/turtlebot3/tree/melodic-devel
https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/melodic-devel
https://github.com/ROBOTIS-GIT/turtlebot3_msgs/tree/melodic-devel

My problem is that when I add namespaces for the robots, the following error occurs.

Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: source_frame base_footprint does not exist.

I have placed everything in a single launch file to make it easier to troubleshoot:

<launch>
<!-- Model and namespace-->
  <arg name="model"       default="burger"/>  <!-- Model, change for process/products -->
  <arg name="robot"       default="bot"/>     <!-- Name space, change for each robot  -->

<!-- Visualization and map location -->
  <arg name="map_file"    default="$(find gazebo_worlds)/maps/factory_map.yaml"/>
  <arg name="open_rviz"   default="true"/>
  <arg name="open_gazebo" default="true"/>

<!-- Positions -->
  <arg name="x_pos" default=" 0.0"/>
  <arg name="y_pos" default=" 0.0"/>
  <arg name="z_pos" default=" 0.0"/>
  <arg name="yaw"   default=" 1.57"/>

<!-- Robot group -->
  <group ns = "$(arg robot)">
    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
      <param name="publish_frequency" type="double" value="50.0" />
      <param name="tf_prefix" value="$(arg robot)" />
    </node>

    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg robot) -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -Y $(arg yaw) -param robot_description" />
  </group>

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

<!-- Tf transformer -->
  <node pkg="tf" type="static_transform_publisher" name="world_to_$(arg robot)_tf_broadcaster"  args="0 0 0 0 0 0 /map /$(arg robot)/map 100"/>

<!-- AMCL -->
  <node pkg="amcl" type="amcl" name="$(arg robot)_amcl">

    <param name="min_particles"             value="500"/>
    <param name="max_particles"             value="3000"/>
    <param name="kld_err"                   value="0.02"/>
    <param name="update_min_d"              value="0.20"/>
    <param name="update_min_a"              value="0.20"/>
    <param name="resample_interval"         value="1"/>
    <param name="transform_tolerance"       value="0.5"/>
    <param name="recovery_alpha_slow"       value="0.00"/>
    <param name="recovery_alpha_fast"       value="0.00"/>
    <param name="initial_pose_x"            value="$(arg x_pos)"/>
    <param name="initial_pose_y"            value="$(arg y_pos)"/>
    <param name="initial_pose_a"            value="$(arg yaw)"/>
    <param name="gui_publish_rate"          value="50.0"/>

    <remap from="scan"                      to="$(arg robot)/scan"/>
    <param name="laser_max_range"           value="3.5"/>
    <param name="laser_max_beams"           value="180"/>
    <param name="laser_z_hit"               value="0.5"/>
    <param name="laser_z_short"             value="0.05"/>
    <param name="laser_z_max"               value="0.05"/>
    <param name="laser_z_rand"              value="0.5"/>
    <param name="laser_sigma_hit"           value="0.2"/>
    <param name="laser_lambda_short"        value="0.1 ...

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<launch>  <arg name="model"/>  <arg name="namespace"/> <arg name="initial_pose_x"/> <arg name="initial_pose_y"/> <arg name="initial_pose_a" default="0.0"/>   <arg name="move_forward_only" default="false"/> <arg name="use_map_topic" default="false"/> <arg name="scan_topic" default="$(arg namespace)/scan"/> <arg name="odom_frame_id" default="$(arg namespace)/odom"/> <arg name="base_frame_id" default="$(arg namespace)/base_footprint"/> <arg name="cmd_vel_topic" default="$(arg namespace)/cmd_vel" /> <arg name="odom_topic" default="$(arg namespace)/odom" /> <arg name="init_pose" default="-x $(arg initial_pose_x) -y $(arg initial_pose_y) -z 0.0"/> <arg name="global_frame_id" default="map"/>  <param name="robot_description" command="$(find xacro)/xacro.py $(find deploy)/param/models/$(arg model).urdf.xacro" /> <group ns="$(arg namespace)"> <param name="tf_prefix" value="$(arg namespace)"/> <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="$(arg init_pose) -urdf -param /robot_description -model $(arg namespace)" respawn="false" output="screen"/> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"> <param name="publish_frequency" type="double" value="50.0" /> </node> </group>  <node pkg="amcl" type="amcl" name="$(arg namespace)_amcl"> <param name="use_map_topic" value="$(arg use_map_topic)"/> <param name="min_particles" value="500"/> <param name="max_particles" value="3000"/> <param name="kld_err" value="0.02"/> <param name="update_min_d" value="0.20"/> <param name="update_min_a" value="0.20"/> <param name="resample_interval" value="1"/> <param name="transform_tolerance" value="0.5"/> <param name="recovery_alpha_slow" value="0.00"/> <param name="recovery_alpha_fast" value="0.00"/> <param name="initial_pose_x" value="$(arg initial_pose_x)"/> <param name="initial_pose_y" value="$(arg initial_pose_y)"/> <param name="initial_pose_a" value="$(arg initial_pose_a)"/> <param name="gui_publish_rate" value="50.0"/> <remap from="scan" to="$(arg scan_topic)"/> <param name="laser_max_range" value="3.5"/> <param name="laser_max_beams" value="180"/> <param name="laser_z_hit" value="0.5"/> <param name="laser_z_short" value="0.05"/> <param name="laser_z_max" value="0.05"/> <param name="laser_z_rand" value="0.5"/> <param name="laser_sigma_hit" value="0.2"/> <param name="laser_lambda_short" value="0.1"/> <param name="laser_likelihood_max_dist" value="2.0"/> <param name="laser_model_type" value="likelihood_field"/> <param name="odom_model_type" value="diff"/> <param name="odom_alpha1" value="0.1"/> <param name="odom_alpha2" value="0.1"/> <param name="odom_alpha3" value="0.1"/> <param name="odom_alpha4" value="0.1"/> <param name="odom_frame_id" value="$(arg odom_frame_id)"/> <param name="base_frame_id" value="$(arg base_frame_id)"/> <param name="global_frame_id" value="$(arg global_frame_id)"/> <remap from="initialpose" to="$(arg namespace)/initialpose"/> <remap from="amcl_pose" to="$(arg namespace)/amcl_pose"/> <remap from="particlecloud" to="$(arg namespace)/particlecloud"/> </node>  <node pkg="move_base" type="move_base" respawn="false" name="$(arg namespace)_move_base" output="screen"> <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" /> <param name="DWAPlannerROS/min_vel_x" value ...

Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: source_frame base_footprint does not exist.

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Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: source_frame base_footprint does not exist.