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ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
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Extrapolation error when following the tutorial of navigation2 #618

Closed ClarkyMacLeod closed 3 years ago

ClarkyMacLeod commented 4 years ago 
[x] Waffle Pi
[x] ROS 2 Dashing Diademata
[x] Raspberry Pi 3
[x] Ubuntu Server 18.04 or later
[x] Ubuntu 18.04 LTS (Bionic Beaver)

I followed the Turtlebot3 Tutorial to create a map with SLAM and use it to follow the Tutorial on Navigation2.

$ ros2 launch turtlebot3_bringup robot.launch.py
$ ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=$HOME/map.yaml

I set the estimated 2d pose in rviz, then the following error message is posted in the rviz-terminal:

[rviz2-9] [ERROR] [rviz2]: Lookup would require extrapolation into the future.  Requested time 1594895008.39042 but the 
latest data is at time 1594895008.34734, when looking up transform from frame [base_scan] to frame [map]

Now, when I set a goal, the path is calculated and drawn, but the robot only moves in abrupt moves and the navigation is not completed.

ROBOTIS-Will commented 4 years ago

@ClarkyMacLeod Hi, thank you for reporting the issue. We'll take a look at it and get back to you. Thank you for your patience.

ROBOTIS-Ashe commented 4 years ago

@ClarkyMacLeod Hi. Thanks for your interest our TB3!

Please check Timesync between your TurtleBot3 and Remote PC? Please refer to the 33.2 Timesync between TurtleBot3 and Remote PC shown in the eManual.

Test above and let me know if it still doesn't work, Thank you.

ClarkyMacLeod commented 4 years ago

Please check Timesync between your TurtleBot3 and Remote PC? Please refer to the 33.2 Timesync between TurtleBot3 and Remote PC shown in the eManual.

Test above and let me know if it still doesn't work, Thank you.

Hi ashekim, yes I tried the Timesync with ntp.ubuntu.com, also I tried to use the remote PC as timesync server. It still doesn't work.

ROBOTIS-Ashe commented 4 years ago

@ClarkyMacLeod

Hi :)

Would you check frequency of tf topics using below commands? $ ros2 topic hz /tf

OpenCR publishes tf topics in 30Hz. So, If the frequency is significantly different, check your OpenCR and network environments.

I attach the link below. Thank you for your reference. ref 1. ref 2.

And it would be nice to ask questions on the ROS forum as well. Thank you.

ROBOTIS-Will commented 3 years ago

This issue thread will be closed as there is no recent activity. Please feel free to reopen if needed.