Hi,
I am working on the Real Robot TurtleBot for ROS Navigation in 5 Days Rosject.
Whenever I launch my launch file containing map_server
, amcl
and move_base
together, I keep getting the following error immediately after launching (does not happen with slam_gmapping
though):
[ WARN] [1673619570.564902809]: 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 returned after 0.100365 timeout was 0.1.
[ WARN] [1673619575.652131796]: 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 returned after 0.100419 timeout was 0.1.
[ WARN] [1673619580.699807134]: 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 returned after 0.101927 timeout was 0.1.
[ WARN] [1673619585.747455295]: 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 returned after 0.100347 timeout was 0.1.
[ WARN] [1673619590.791715059]: 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 returned after 0.103067 timeout was 0.1.
[ WARN] [1673619595.838631137]: 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 returned after 0.100061 timeout was 0.1.
I have checked each and every parameter that I am using in my packages, and to my best knowledge, I do not have any parameter with 10.0
as frequency (0.1 = 10.0 Hz
).
I also checked almost all the issues on this forum with the same problem and the most common solution was: Change Fixed Frame from “base_link” to “map” in Rviz, but in my case, it is already on “map”.
The good thing is that, my program and packages work as expected.
**But,**
The laser scan takes quite some time to load after all the above error messages but it still fails with the following error message:
[ERROR] [1673619569.927966766]: Couldn't determine robot's pose associated with laser scan.
My map_server
, amcl
and move_base
nodes were running, got that info from rosnode list
.
I also have a service that will automatically localize the robot when called. I specifically created this service to NOT PERFORM 2D POSE ESTIMATE on Rviz. But the problem is, if I don’t do the 2D Pose Estimate on Rviz, the error continues forever and ever and ever… does not stop!
My question:
How can I get rid of this warning? It is really annoying me.
(Or I might have not understood something, in this case please clarify why this happens.)
Thanks,
Girish