Hi,
I think, navigation stack drops many data during navigation. At these times, the robot is stopped.
I think, it was not the case for the previous robot, I noticed it after replacing the turtlebot.
Now I am using use_sim_time=True but I also tried with use_sim_time:=false, that made things worst.
The logs contains lines like these:
controller server:
[WARN] [1718208321.489560447] [controller_server]: No goal checker was specified in parameter 'current_goal_checker'. Server will use only plugin loaded goal_checker . This warning will appear once.
[INFO] [1718208323.590228249] [controller_server]: Passing new path to controller.
[ERROR] [1718208325.489934485] [tf_help]: Transform data too old when converting from odom to map
[ERROR] [1718208325.489976583] [tf_help]: Data time: 1718208325s 129360881ns, Transform time: 1718208322s 718670624ns
[WARN] [1718208325.490044853] [controller_server]: Unable to transform robot pose into global plan's frame
[ERROR] [1718208325.589908362] [tf_help]: Transform data too old when converting from odom to map
[ERROR] [1718208325.589940413] [tf_help]: Data time: 1718208325s 129360881ns, Transform time: 1718208322s 718670624ns
[WARN] [1718208325.589979996] [controller_server]: Unable to transform robot pose into global plan's frame
[ERROR] [1718208325.689986094] [tf_help]: Transform data too old when converting from odom to map
[ERROR] [1718208325.690025460] [tf_help]: Data time: 1718208325s 129360881ns, Transform time: 1718208322s 718670624ns
planner server: (I understand it at least)
[ERROR] [1718208432.181635476] [planner_server]: worldToMap failed: mx,my: 30,56, size_x,size_y: 54,56
[ERROR] [1718208432.181648091] [planner_server]: worldToMap failed: mx,my: 31,56, size_x,size_y: 54,56
[ERROR] [1718208432.181660053] [planner_server]: worldToMap failed: mx,my: 32,56, size_x,size_y: 54,56
[ERROR] [1718208432.181671612] [planner_server]: worldToMap failed: mx,my: 33,56, size_x,size_y: 54,56
my node:
[ERROR] [1718208318.538240363] [walking_node]: Could not transform base_scan to map: Lookup would require extrapolation into the future. Requested time 1718208318.208212 but the latest data is at time 1718208317.710698, when looking up transform from frame [base_scan] to frame [map]
[ERROR] [1718208318.538763023] [walking_node]: Could not transform base_scan to map: Lookup would require extrapolation into the future. Requested time 1718208318.208212 but the latest data is at time 1718208317.710698, when looking up transform from frame [base_scan] to frame [map]
[ERROR] [1718208318.539428485] [walking_node]: Could not transform base_scan to map: Lookup would require extrapolation into the future. Requested time 1718208318.208212 but the latest data is at time 1718208317.710698, when looking up transform from frame [base_scan] to frame [map]
[ERROR] [1718208318.540054043] [walking_node]: Could not transform base_scan to map: Lookup would require extrapolation into the future. Requested time 1718208318.208212 but the latest data is at time 1718208317.710698, when looking up transform from frame [base_scan] to frame [map]
rviz:
[ERROR] [1718208526.881808542] [rviz2]: Lookup would require extrapolation into the future. Requested time 1718208526.697004 but the latest data is at time 1718208526.604746, when looking up transform from frame [base_scan] to frame [map]
[ERROR] [1718208527.248614598] [rviz2]: Lookup would require extrapolation into the future. Requested time 1718208527.151695 but the latest data is at time 1718208527.121660, when looking up transform from frame [base_scan] to frame [map]
[ERROR] [1718208527.489661112] [rviz2]: Lookup would require extrapolation into the future. Requested time 1718208527.311173 but the latest data is at time 1718208527.207099, when looking up transform from frame [base_scan] to frame [map]
[ERROR] [1718208527.504111154] [rviz2]: Lookup would require extrapolation into the future. Requested time 1718208527.458210 but the latest data is at time 1718208527.340862, when looking up transform from frame [base_scan] to frame [map]
I found many good ideas here:
Maybe this also could help:
Unfortunately, to try these, I need many real robot sessions…
Péter