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ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
Apache License 2.0
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Frame [map] does not exist #925

Closed CullenSUN closed 1 year ago

CullenSUN commented 1 year ago

ISSUE TEMPLATE ver. 0.4.0

  1. Which TurtleBot3 platform do you use?

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

  2. Which ROS is working with TurtleBot3?

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

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

    • [ ] Intel Joule 570x
    • [ ] Raspberry Pi 3B+
    • [ ] Raspberry Pi 4
    • [x] Simulation on PC MSI STEALTH GS66 (Please specify your SBC here)

  4. Which OS you installed on SBC?

    • [ ] Raspbian distributed by ROBOTIS
    • [ ] Ubuntu MATE (16.04/18.04/20.04)
    • [ ] Ubuntu preinstalled server (18.04/20.04)
    • [x] n/a (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)
    • [ ] Ubuntu 20.04 LTS (Focal Fossa)
    • [x] Ubuntu 22.04 LTS
    • [ ] 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: [x.x.x]
    • Firmware version: [x.x.x]

  7. Specify the commands or instructions to reproduce the issue. Follow this guide https://emanual.robotis.com/docs/en/platform/turtlebot3/nav_simulation/

    # 6.3.1. Launch Simulation World
$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

# 6.3.2. Run Navigation Node
$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=$HOME/map.yaml

  8. Copy and Paste the error messages on terminal.

    Screenshot from 2022-12-12 00-27-16

    [component_container_isolated-1] [INFO] [1670777092.060409786] [lifecycle_manager_navigation]: Activating planner_server
[component_container_isolated-1] [INFO] [1670777092.061472103] [global_costmap.global_costmap]: Checking transform
[component_container_isolated-1] [INFO] [1670777092.061533055] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1670777092.561594085] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1670777093.061590142] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-1] [INFO] [1670777093.561583864] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-2] [INFO] [1670777093.874670596] [rviz2]: Message Filter dropping message: frame 'odom' at time 12.596 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1670777093.906902720] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 12.586 for reason 'discarding message because the queue is full'
[component_container_isolated-1] [INFO] [1670777094.061679174] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-2] [INFO] [1670777094.066776109] [rviz2]: Message Filter dropping message: frame 'odom' at time 12.766 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1670777094.098805099] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 12.786 for reason 'discarding message because the queue is full'
[component_container_isolated-1] [WARN] [1670777094.103152030] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[rviz2-2] [INFO] [1670777094.258557397] [rviz2]: Message Filter dropping message: frame 'odom' at time 12.970 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1670777094.290895297] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 12.987 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1670777094.482641208] [rviz2]: Message Filter dropping message: frame 'odom' at time 13.174 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1670777094.514994170] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 13.187 for reason 'discarding message because the queue is full'
[component_container_isolated-1] [INFO] [1670777094.561696292] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-2] [INFO] [1670777094.674940942] [rviz2]: Message Filter dropping message: frame 'odom' at time 13.344 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1670777094.706858700] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 13.387 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1670777094.866752092] [rviz2]: Message Filter dropping message: frame 'odom' at time 13.548 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1670777094.930768277] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 13.587 for reason 'discarding message because the queue is full'
[rviz2-2] [INFO] [1670777095.059230348] [rviz2]: Message Filter dropping message: frame 'odom' at time 13.752 for reason 'discarding message because the queue is full'
[component_container_isolated-1] [INFO] [1670777095.061750422] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist

  9. Please describe the issue in detail.

    • HERE
Betatester777 commented 1 year ago

Hello Cullen, I have exactly the same problem with the simulator. Have you found the solution?

I have already tried to build and install all turtle nodes myself, unfortunately without success.

CullenSUN commented 1 year ago

hi @Betatester777 , I haven't found the solution yet. My guess is I missed a package, but not sure which one.

Betatester777 commented 1 year ago

Hi @CullenSUN, I've made a lot of investigation, but no progress until now. I think there some mismatch in topics between Gazebo and RViz. The log shows timeout Error for transformation from base_link to odomertry. I'm on vacation now and will proceed after new year. Greetings Ingo

Tiryoh commented 1 year ago

Did you try 6.3.3. Estimate Initial Pose?

It seems to work correctly once I specify the initial pose.

https://user-images.githubusercontent.com/3256629/210094936-0bee586e-a842-40da-b196-4e8741df13a5.mp4

CullenSUN commented 1 year ago

hi @Tiryoh , Sato san, thank you so much. It's indeed as what you said. This is a bit different from examples I have done before, usually the initial pose was set properly in launch file. How silly I am! :)