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[Hydro] Error in move_base.launch rviz

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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 ![image description](/upfiles/14072235806418181.png) 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 : When I launched roswtf i got this error Loaded plugin tf.tfwtf No package or stack in context ================================================================================ Static checks summary: No errors or warnings ================================================================================ Beginning tests of your ROS graph. These may take awhile... analyzing graph... ... done analyzing graph running graph rules... ... done running graph rules running tf checks, this will take a second... ... tf checks complete Online checks summary: Found 3 warning(s). Warnings are things that may be just fine, but are sometimes at fault WARNING The following node subscriptions are unconnected: * /amcl: * /tf_static * /clock * /initialpose * /scan * /robot_state_publisher: * /joint_states * /rpid_velocity: * /rwheel * /diff_tf: * /lwheel * /rwheel * /map_server: * /clock * /odom_map_broadcaster: * /clock * /move_base: * /move_base_simple/goal * /tf_static * /clock * /lpid_velocity: * /lwheel WARNING These nodes have died: * mark2_arduino-2 WARNING Received out-of-date/future transforms: * receiving transform from [/robot_state_publisher] that differed from ROS time by 1407396264.96s * receiving transform from [/diff_tf] that differed from ROS time by 1407396264.45s Found 1 error(s). ***Update The new tf view_frames*** ![image description](/upfiles/14085280359790738.png)

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