Hi,
I have a world in gazebo(fuerte) with turtlebot in it and I have the map of the world too. After launching the world, when I try to launch the launch file described below, I get this warning:
`[ WARN] [1366190909.527997203, 40.084000000]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:`
Launch File:
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TF Error while running AMCL (turtlebot). Waiting on transform from /base_link to /map to become available before running costmap.
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Transform from base_link to odom failed on Stage
I am starting to learn how to program a robot controller on C++. For now, I just want my robot to repetitively travel 1m straight until it runs into an obstacle. When I run my program on Stage, the robot moves 2-3 times, then I receive a `Transform from base_link to odom failed` error message. After that, the robot rotates then go straight 1m for a few times, then rotates, etc. I think a rotation occurs every time the transform fails. Unless this is related to the local planner?
I don't understand how the transform would sometimes work and sometimes not. Here is my code:
#include
#include
#include
#include
#include
#include
#include
using namespace navfn;
typedef actionlib::SimpleActionClient MoveBaseClient;
int main(int argc, char** argv){
ros::init(argc, argv, "compare");
//tell the action client that we want to spin a thread by default
MoveBaseClient client("move_base", true);
//wait for the action server to come up
while(!client.waitForServer(ros::Duration(5.0)) && ros::ok()){
ROS_INFO("Waiting for the move_base action server to come up");
}
move_base_msgs::MoveBaseGoal goal;
//we'll send a goal to the robot to move 1 meter forward
goal.target_pose.header.frame_id = "base_link";
ros::Rate loop_rate(10);
while (ros::ok()) {
goal.target_pose.header.stamp = ros::Time::now();
goal.target_pose.pose.position.x = 1.0;
goal.target_pose.pose.orientation.w = 1.0;
ROS_INFO("Sending goal");
client.sendGoal(goal);
client.waitForResult();
if(client.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
ROS_INFO("Hooray, the base moved 1 meter forward");
else
ROS_INFO("The base failed to move forward 1 meter for some reason");
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
Here is my launch file:
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Using SLAM Gmapping on Stage with Fuerte
I am having trouble using Gmapping on Stage along with a very basic controller publishing on *cmd_vel* and reading from *base_scan*. Here is my launch file:
However, this doesn't work; I receive the error "transform from base_link to odom failed", then slam starts relying on the odometer so the map is all messed up. I don't understand why this is happening. Stage seems to be publishing the right tf's; the tree is as follows: map -> odom -> base_footprint -> base_link -> base_laser_link. Here is the tf tree created by view_frame:
Oh, and I just noticed this on Rviz:
However, I just reset everything and the transforms on Rviz are fine now, but I still get the error and mapping problem.
Is there a fix for this transform problem? Could it be a synchronization issue even if I set use_sim_time to true? I've been struggling with this all day, and I don't understand what the problem could be...
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Stageros: cannot change z coordinate of base_link → base_laser tf
Hello all,
for any reason I cannot put the laser of my robot at its real height in the Stage-simulated version. The maximum z I get is 0.15 m! No idea why. I have tried to resize the robot model, to place the laser higher than real position, and more, but nothing helps. Is not a critical issue but annoying, as it force me to keep two different versions of costmap sensors configuration (simulated and real).
Here is my robot model (a turtlebot):
define kinect ranger
(
sensor
(
range_max 6.5
fov 58.0
samples 640
)
# generic model properties
color "black"
size [ 0.06 0.15 0.03 ]
)
define turtlebot position
(
pose [ 0.0 0.0 0.0 0.0 ]
odom_error [0.03 0.03 999999 999999 999999 0.02]
size [ 0.33 0.33 0.40 ]
origin [ 0.0 0.0 0.0 0.0 ]
gui_nose 1
drive "diff"
color "gray"
kinect(pose [ -0.1 0.0 0.3 0.0 ])
)
And the base_link → base_laser tf:
- Translation: [-0.100, 0.000, 0.150]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
in RPY [0.000, -0.000, 0.000]
Thanks!
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How to get robot position (x,y) in a map?
Hi,
I want to **calculate robot's current position** with respect to the **map**. Autonomous navigation of ROS works **fine**. Initially, I thought that by listening to **/amcl_pose topic**, we can get the current position. But when I do, **"rostopic echo /amcl_pose"**, then there is no such messages.
I am using **Pioneer 3 AT**, and want to calculate the robot's (center of gravity) position with respect to a known map. (**don't want** to consider **four corners of the robot**).
Following is my **"rosrun tf view_frames"**
[tf.jpg](/upfiles/13988714412451395.jpg)
In the [answer](http://answers.ros.org/question/130541/tracking-robot-position-during-teleoperation/), I get that AMCL usually **publishes the position of the robot as a TF transform from the /map frame to the /base_link frame?**
But, How to achieve this **can you help me with some simple code snippet?**
Thanks in advance.........
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Could not find a connection between '/map' and '/base_link'
Hi,
I want to **calculate robot's current position with respect to the map**. Autonomous navigation of ROS works **fine**.
Following is my **"rosrun tf view_frames"**
[tf tree](http://answers.ros.org/upfiles/13988714412451395.jpg)
I have **tried following two commands which gives robot position?? And it works correctly**
rosrun tf tf_echo /map /base_link
rosrun tf tf_echo /odom /base_footprint
Code snippet used the **listen the transform** is given below::::::I have used this code **inside a nodelet's init()** method..Code ***compiled successfully***. transform and listener are made public class members.
while (nh.ok())
{
//tf::StampedTransform transform;
try
{
//ROS_INFO("Attempting to read pose...");
listener.lookupTransform("/map","/base_link",ros::Time(0), transform);
//listener.lookupTransform("/odom","/base_footprint",ros::Time(0), transform); //SECOND STATEMENT//
ROS_INFO("Got a transform! x = %f, y = %f",transform.getOrigin().x(),transform.getOrigin().y());
}
catch (tf::TransformException ex)
{
ROS_ERROR("Nope! %s", ex.what());
}
//rate.sleep();
}
**ERROR [lookupTransform.jpg](/upfiles/13990283806989855.jpg)**
Even if I try "**SECOND STATEMENT"(see code snippet)**, we get following error.
[ERROR] [1399027108.366171508]: Nope! Could not find a connection between '/odom' and '/base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.
[ERROR] [1399027108.366232448]: Nope! Could not find a connection between '/odom' and '/base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.
Thank you for any kind of help...................
**rxconsole OUTPUT [transform.jpg](/upfiles/13991314003247882.jpg) and "rosrun tf tf_echo /map /base_link" output** [map to base_link.jpg](/upfiles/1399131441608574.jpg)
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rosrun tf tf_echo /map /base_link VS. Coding implementation.
Hi,
I want to calculate robot's current position with respect to the map.
**Following is my "rosrun tf view_frames"**
[tf tree](http://answers.ros.org/upfiles/13988714412451395.jpg)
I have tried following commands which gives robot position with respect to /map frame.
**rosrun tf tf_echo /map /base_link**
***Output*** is here:[map to base_link.jpg](/upfiles/1399291760642935.jpg)
**Now same thing, I tried to perform using the code** [here](http://pastebin.com/Z5pVWaTn)
But the output of rxconsole is shown below::
[transform.jpg](/upfiles/13992918927182973.jpg).
**I am just wondering why the results of the code and that of "rosrun tf tf_echo /map /base_link" is not matching?**
I **am getting "Got a transform! x = 0.000000, y =0.000000",** even after 1sec when I use the code. **But "rosrun tf tf_echo /map /base_link", gives actual robot position** with respect to the map as you can see the **screen shot**.
**Question1:** Is there any way to get the exact position of the robot while moving in the environment?
**Question 2**: I don’t know how the above command gives position of the robot with respect to the map, but the implementation of the SAME COMMAND gives some INVALID result?
**Question 3:** Is there any way to **emulate the command "rosrun tf tf_echo /map /base_link" in coding**?
Please help..........
Many Thanks.
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Laser -> point cloud, tf drop all packages
hi, all,
I am super new to ROS.
I am trying to use tf to transform the laser input to tf base_link frame.
But I am constantly getting error msg like "MessageFilter [target=base_link ]: Dropped 100.00% of messages so far. Please turn the [ros.agv.message_notifier] rosconsole logger to DEBUG for more information."
and it seems the call back was never invoked. I tested the laser msg by subscribing to the raw msg and it works fine.
I think there might be a broken link somewhere in the settings.
Can someone help me? here's the code for the listener.
class LaserScanToPointCloud{
public:
ros::NodeHandle node;
laser_geometry::LaserProjection projector;
tf::TransformListener listener;
message_filters::Subscriber laser_sub;
tf::MessageFilter laser_notifier;
ros::Publisher scan_pub;
LaserScanToPointCloud(ros::NodeHandle n) :
node(n),
laser_sub(node, "base_scan", 10),
laser_notifier(laser_sub,listener, "base_link", 10)
{
printf("setting up callback\r\n");
laser_notifier.registerCallback(boost::bind(&LaserScanToPointCloud::scanCallback, this, _1));
laser_notifier.setTolerance(ros::Duration(0.01));
scan_pub = node.advertise("my_cloud",1);
printf("set up callback\r\n");
}
void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_in)
{
sensor_msgs::PointCloud localcloud;
printf("%ds:%lfm\r\n",scan_in->header.stamp.sec,scan_in->ranges[128]);
try
{
projector.transformLaserScanToPointCloud("base_link",*scan_in, localcloud,listener);
}
catch (tf::TransformException& e)
{
std::cout << e.what();
return;
}
printf("(%f,%f,%f)\r\n",localcloud.points.data()->x,localcloud.points.data()->y,localcloud.points.data()->z);
// Do something with cloud.
scan_pub.publish(localcloud);
}
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "my_scan_to_cloud");
ros::NodeHandle n;
LaserScanToPointCloud lstopc(n);
ros::spin();
return 0;
}
and here's the broadcaster
int main(int argc, char** argv){
ros::init(argc, argv, "robot_tf_publisher");
ros::NodeHandle n;
ros::Rate r(50);
tf::TransformBroadcaster broadcaster;
while(n.ok()){
broadcaster.sendTransform(
tf::StampedTransform(
tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.0, 0.0, 0.2)),
ros::Time::now(),"base_link", "base_scan"));
r.sleep();
}
return 0;
}
million thanks
Ray
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set up a TF broadcaster for laser input
hi, All,
I am trying to compose a broadcaster node to take in raw laser readings and converted to robot base frame.
is there any tutorial/example I can refer to?
input
sensor_msgs::LaserScan laser_in;
broadcast
tf::Stamped laser_pose;
Thanks
Ray
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How to publish transform from odom to base_link?
I have a Recorded rosbag file which contains Laserscan data (LMS100) linked to base_link. I trying to use amcl and localize the robot in the map, but amcl needs odom->baselink so that it can publish map->odom. But currently there is no link between odom and base_link.
I loaded the map in rviz, when set the **global options** to
*base_link -> I am getting scan data* ; when set to *odom -> I getting odometry data* in rviz; when set *map-> nothing* is happening. I want to integrate in the way map->odom->base_link.
I could not able to figure out the way to link the odom -> base_link. Can anyone help me to solve above problem.
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/tf from /base_link to /camera_link
Hi,
I'm using ccny_rgbd_tools which gives me a transform between /camera_link, which is the base_frame, and /odom, which is the fixed_frame.
I'm using MoveIt!, where I have a urdf model which as a camera_link and a base_link, which supposedly already gives a static_tf between them. I have a virtual_joint between camera_link and odom (which is floating, cause it is from a quadrotor).
Now running demo.launch (without the static_transform_publisher between camera_link and odom) I get this on the command line:
[ WARN] [1404846265.951041568]: No transform available between frame 'odom' and planning frame '/base_link' (Could not find a connection between 'base_link' and 'odom' because they are not part of the same tree.Tf has two or more unconnected trees.)
I have a /tf between odom and camera_link, and a /tf from base_link to camera_link, which builds up a tree. Why does it needs a /tf between base_link and odom?
Thanks in advance!
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which frame I should use ?
I used laser_geometry tutorial and I have this code:
LaserScanToPointCloud(ros::NodeHandle n):
n_(n),
// laser_sub_(n_, "base_scan", 10),
laser_sub_(n_, "/laserscan", 1),
laser_notifier_(laser_sub_,listener_, "laser0_frame", 1)
{
std::cout << "Object created" << std::endl ;
laser_notifier_.registerCallback(
boost::bind(&LaserScanToPointCloud::scanCallback, this, _1));
laser_notifier_.setTolerance(ros::Duration(0.01));// 0.01
std::cout << "before pub " << std::endl ;
scan_pub_ = n_.advertise("cloud",1);
std::cout << "after pub " << std::endl ;
}
==========================================
sensor_msgs::PointCloud cloud;
try
{
std::cout << "try " << std::endl ;
projector_.transformLaserScanToPointCloud(
"laser0_frame",*scan_in, cloud,listener_);
}
catch (tf::TransformException& e)
{
std::cout << "catch 1 " << std::endl ;
std::cout << e.what();
std::cout << "catch " << std::endl ;
return;
}
I changed base_scan to laser_scan --> this is because the topic name that publishes laser data is called laser_scan
is that right ?? should I do that or shouldn't I ?
Also, I did rostopic echo /scan and I found that the frame id is laser0_frame.. So I used it instead of the base_link. The base_link was used in the geometry tutorial.
now in the previous code should I use base_link or laser0_frame
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[Groovy] How to link /scan to base_link?
When I launch my move_base.launch, ( http://wiki.ros.org/navigation/Tutorials/RobotSetup) , I got this error :
Waiting on transform from /base_link to /map to become available before running costmap, tf error:
[ WARN] [1406541885.908819812]: No laser scan received (and thus no pose updates have been published) for 1406541885.908702 seconds. Verify that data is being published on the /scan topic.
This is my frames.pdf file
This is the rqt_graph :
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laser_frame not moving
I have the following scheme in simulation enviroment with Gazebo and Rviz:
laser_frame -> base_link -> base_stabilized -> base_footprint -> odom -> map -> world
laser_frame to base_link is provided by robot_state_publisher looking up in the urdf file
base_link -> base_stabilized -> base_footprint -> odom is provided by a 'message_to_tf' node that takes ground_truth topic with z axis and rotation to publish this transformations
odom -> map is provided by a mapper node setting up the transforms in x-axis and y-axis
map -> world is provided by a node doing a static/fixed transform
In Rviz we have as fixed frame and target frame the /world frame.
World is fixed, map is fixed refering to world, odom is moving in x,y,z and rotation refering to map BUT base_footprint, base_link and therefore laser_frame arent moving. They keep as they started.
How can I fix it? What am I missing?
Thanks
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[Hydro] Error in move_base.launch rviz
I succed finally to launch my move_base.launch file.
And when with rviz I tried to tell where the robot is in the map, with the 2d Pose Estime, i got this message :
Failed to transform initial pose in time (Lookup would require extrapolation into the future. Requested time 1407222627.317546291 but the latest data is at time 1407222627.301636934, when looking up transform from frame [map] to frame [base_link])
I think that there is a link with my previous problem
http://answers.ros.org/question/187967/groovy-how-to-link-scan-to-base_link/
This is my view_frames
My local costmap is :
local_costmap:
global_frame: /odom
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
My global costmap is
global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
static_map: true
The link beetween map and /odom is done in the move_base.launch file :
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static_transform_publisher base_link base_laser
hi everyone
Is this line enough in order to use tf package for set a fixed relation between base_link and base_laser frames in my launch file?
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Where do I put base_footprint?
So I have a urdf for my robot, with the tree root as `base_link`.
However, I am using `robot_pose_ekf`, which has a hard-coded transform for `base_footprint`. Assuming a simple square `base_footprint`, should I make it the root:
base_footprint
base_link ... rest of model
EDIT:
After adding a base_footprint link and joint to base_link:
robot name is: Thumperbot_Simplistic
---------- Successfully Parsed XML ---------------
root Link: base_footprint has 1 child(ren)
child(1): base_link
I still get the following error:
Node: /robot_pose_ekf
Time: 12:35:35.441279569 (2014-09-16)
Severity: Debug
Published Topics: /robot_pose_ekf/odom_combined, /rosout, /tf
Could not transform imu message from base_link to base_footprint. Imu will not be activated yet.
Location:
/tmp/buildd/ros-indigo-robot-pose-ekf-1.11.11-0trusty-20140805-0105/src/odom_estimation_node.cpp:OdomEstimationNode::imuCallback:234
----------------------------------------------------------------------------------------------------
Perhaps it is not receiving my urdf that have in the launchfile? Here is the launchfile:
odom_used: false
imu_used: true
vo_used: true
debug: true
self_dignose: true
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changing the dimention of the base link moved the robot upward from the ground
I have a mobile robot "husky"
I have the following things in a urdf file: 10
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more than one odom->base_link transform
Hello,
I am using rtabmap rgbd_odometry node and data from IMU feeded to robot_pose_ekf node. This gives me stable odometry. This stable odometry data publishes a odom->base_link transform. Apart from this the rgbd_odometry node and robot_pose_ekf node also publishes the transform between odom and baselink. To avoid any conflict i remapped the frame id of rgbd_odometry and robot_pose_ekf as odom1 and odom_combined. But now when i run
rosrun tf view_frames
The results are varying everytime i run the command. Sometimes it shows that odom-base_link transform is published by odom and at other point of time it shows that the same transform is published by rgbd_odometry. How can i select odom to be publishing this transform always ?
roswtf
gives me this.
ERROR TF re-parenting contention:
* reparenting of [base_link] to [odom_combined] by [/robot_pose_ekf]
* reparenting of [base_link] to [odom_useless] by [/rgbd_odometry]
* reparenting of [base_link] to [odom] by [/odom]
ERROR TF multiple authority contention:
* node [/robot_pose_ekf] publishing transform [base_link] with parent [odom_combined] already published by node [/odom]
* node [/rgbd_odometry] publishing transform [base_link] with parent [odom_useless] already published by node [/robot_pose_ekf]
* node [/odom] publishing transform [base_link] with parent [odom] already published by node [/rgbd_odometry]
* node [/rgbd_odometry] publishing transform [base_link] with parent [odom_useless] already published by node [/odom]
* node [/odom] publishing transform [base_link] with parent [odom] already published by node [/robot_pose_ekf]
* node [/robot_pose_ekf] publishing transform [base_link] with parent [odom_combined] already published by node [/rgbd_odometry]
Please help me with this. I have been stuck at the same point since last 4 days.
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RViz - RobotModel -> base_link -> 'show trail' history
I'm trying to display the trail of my robot in RViz. I know that it's possible by publishing a visualization_msgs/Marker something like in this tutorial: [Markers: Points and Lines (C++)](http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Points%20and%20Lines). However, at first I'd like to know if it's possible to do it easier way using display type RobotModel -> Links -> base_link -> show trail. Yes, it draws a path of my robot but only a small part of it - after a few seconds of driving the beginning is 'erased'. Is it possible to make the history/lifetime (not sure how to exactly call it) of my trail longer?
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