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WARNING Received out-of-date/future transforms: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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