No /turtlebot01/scan messaged recieved but data is being published to /turtlebot01/scan

[wyattmotion2ai]

ISSUE TEMPLATE ver. 0.4.0

1. Which TurtleBot3 platform do you use?

   • [ ] Burger
   • [ ] Waffle
   • [x] Waffle Pi

2. Which ROS is working with TurtleBot3?

   • [ ] ROS 1 Kinetic Kame
   • [x] ROS 1 Melodic Morenia
   • [ ] ROS 1 Noetic Ninjemys
   • [ ] ROS 2 Dashing Diademata
   • [ ] ROS 2 Eloquent Elusor
   • [ ] ROS 2 Foxy Fitzroy
   • [ ] etc (Please specify your ROS Version here)

3. Which SBC(Single Board Computer) is working on TurtleBot3?

   • [ ] Intel Joule 570x
   • [ ] Raspberry Pi 3B+
   • [x] Raspberry Pi 4
   • [ ] etc (Please specify your SBC here)

4. Which OS you installed on SBC?

   • [ ] Raspbian distributed by ROBOTIS
   • [x] Ubuntu MATE (16.04/18.04/20.04)
   • [ ] Ubuntu preinstalled server (18.04/20.04)
   • [ ] etc (Please specify your OS here)

5. Which OS you installed on Remote PC?

   • [ ] Ubuntu 16.04 LTS (Xenial Xerus)
   • [ ] Ubuntu 18.04 LTS (Bionic Beaver)
   • [x] Ubuntu 20.04 LTS (Focal Fossa)
   • [ ] Windows 10
   • [ ] MAC OS X (Specify version)
   • [ ] etc (Please specify your OS here)

6. Specify the software and firmware version(Can be found from Bringup messages)

   • Software version: [v1.2.5]
   • Firmware version: [v1.2.6]

7. Specify the commands or instructions to reproduce the issue.

   On Server: roscore

On Turtlebot01 ROS_NAMESPACE=turtlebot01 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:=turtlebot01 set_lidar_frame_id:=/turtlebot01/base_scan On Turtlebot02 ROS_NAMESPACE=turtlebot02 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:=turtlebot02 set_lidar_frame_id:=/turtlebot02/base_scan

On Server: roslaunch turtlebot3_navigation robots.launch

8. Copy and Paste the error messages on terminal.

    No laser scan received (and thus no pose updates have been published) for 1666832668.552174 seconds.  Verify that data is being published on the /turtlebot01/scan topic.
No laser scan received (and thus no pose updates have been published) for 1666832668.552457 seconds.  Verify that data is being published on the /turtlebot02/scan topic.
Timed out waiting for transform from turtlebot01/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100448 timeout was 0.1
Timed out waiting for transform from turtlebot02/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101096 timeout was 0.1

9. Please describe the issue in detail.

My goal is two coordinate two physical turtlebot3 robots using move_base on ROS noetic. Currently, the robots are not able to localize and therefore are not acting on any move_base commands recieved. I am not entirely sure why, but I believe it is related to these warning messages that I receive.

I have tried many approaches to resolving this problem, but so far no luck. I believe that the real issue I am facing is that the TF tree is incorrect, and that the error message is a red herring (based on this post). It seems that the amcl does not correctly set up the transforms such that the localization is not possible, and therefore I can't use movebase.

Link to Launch Files

Related images like rviz, error messages, etc

My TF Tree

I believe the problem is somehow related to the TF tree and AMCL not publishing the correct transforms. But I am not sure what the real problem is or how to track it down. Thank you for any help!

Similar to #536, I think this may have been encountered before?

[wyattmotion2ai]

Update: It seems I am able to fix the

Timed out waiting for transform from turtlebot01/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100328 timeout was 0.1. [ WARN] errors by publishing a transform as follows:

rosrun tf static_transform_publisher 0 0 0 0 0 0 map /turtlebot02/base_footprint 100
rosrun tf static_transform_publisher 0 0 0 0 0 0 map /turtlebot01/base_footprint 100

I'm not sure if this is the correct transform, but it removes that error. For now I still have the following error, even though the scan topic has information coming in

> [ WARN] [1666893666.696421084]: No laser scan received (and thus no pose updates have been published) for 1666893666.696324 seconds.  Verify that data is being published on the /turtlebot02/scan topic.
> [ WARN] [1666893681.694004683]: No laser scan received (and thus no pose updates have been published) for 1666893681.693916 seconds.  Verify that data is being published on the /turtlebot01/scan topic.

I believe the relevant info from RVIZ is the LaserScan error, in which it says:

For frame [base_scan]: Frame [base_scan] does not exist

[wyattmotion2ai]

Another update..

I have been able to fix all rviz errors by adding even more transformations. It seems like the main issue was related to base_scan -> scan tf, as well as base_scan -> map. Once again, I am not sure what the correct transformation should actually be, but this does remove the errors I encountered

<node pkg="tf" type="static_transform_publisher" name="map_to_base_footprint" args="0 0 0 0 0 0 map /$(arg name)/base_footprint 100"/> 
<node pkg="tf" type="static_transform_publisher" name="odom_to_map" args="0 0 0 0 0 0 map /$(arg name)/odom 100"/> 
<node pkg="tf" type="static_transform_publisher" name="scan_to_map" args="0 0 0 0 0 0 map /$(arg name)/scan 100"/> 
<node pkg="tf" type="static_transform_publisher" name="base_scan_to_base_scan" args="0 0 0 0 0 0 /$(arg name)/base_scan base_scan 100"/> 
<node pkg="tf" type="static_transform_publisher" name="base_scan_to_map" args="0 0 0 0 0 0 map /$(arg name)/base_scan 100"/> 

This still has not solved localization sadly, the robot lidar data is being received on the rviz side and is displayed, but the robot is obviously not localized:

It seems that maybe the robots are not receiving the map for some reason

[wyattmotion2ai]

After changing many things, I believe the root cause of the issue is related to this pr:

https://github.com/ROBOTIS-GIT/ld08_driver/pull/2

the frame_id of the scan does not allow you to set different namespaces, it is hard coded. So it would not work with multiple robots

[Daviesss]

I have the same issue . [ WARN] [1694952804.326719165, 1021.474000000]: No laser scan received (and thus no pose updates have been published) for 1021.474000 seconds. Verify that data is being published on the /robot1/scan topic. How did you solve this ? i am working on multi robot . Kindly point me out to a solution . I have been on this for weeks.

[Zuhair-A-Ahmed]

I have the same issue . [ WARN] [1694952804.326719165, 1021.474000000]: No laser scan received (and thus no pose updates have been published) for 1021.474000 seconds. Verify that data is being published on the /robot1/scan topic. How did you solve this ? i am working on multi robot . Kindly point me out to a solution . I have been on this for weeks.

Please, Did you solve it ?

[AradHajari]

I have the same issue . [ WARN] [1694952804.326719165, 1021.474000000]: No laser scan received (and thus no pose updates have been published) for 1021.474000 seconds. Verify that data is being published on the /robot1/scan topic. How did you solve this ? i am working on multi robot . Kindly point me out to a solution . I have been on this for weeks.

Please, Did you solve it ?

did you?