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ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
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[bug] : tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist #948

Closed lonebots closed 1 year ago

lonebots commented 1 year ago

ISSUE TEMPLATE ver. 0.4.0

  1. Which TurtleBot3 platform do you use?

    • [ ] Burger
    • [x] 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

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

    • [ ] Intel Joule 570x
    • [ ] Raspberry Pi 3B+
    • [ ] Raspberry Pi 4
    • [x] Simulation environment (Gazebo, rvizs2)

  4. Which OS you installed on SBC?

    • [ ] Raspbian distributed by ROBOTIS
    • [ ] Ubuntu MATE (16.04/18.04/20.04)
    • [ ] Ubuntu preinstalled server (18.04/20.02)
    • [x] Simulation environment (Gazebo, rvizs2)

  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)
    • [ ] Windows 10
    • [ ] MAC OS X (Specify version)
    • [x] Ubuntu 22.04 LTS ( Jammy)

  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.

    • I was trying to learn the basics of nav2 using the official documentation and followed the step in Getting Started with Nav2
    • finished installation and setting the environment variables.
    • Tried to launch the simulation with the below command :
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False
  1. Copy and Paste the error messages on terminal.

The following error occurred : 

[component_container_isolated-6] [INFO] [1681207522.399662936] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[component_container_isolated-6] [INFO] [1681207522.404317110] [local_costmap.local_costmap]: Subscribed to Topics: scan
[component_container_isolated-6] [INFO] [1681207522.413085572] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[component_container_isolated-6] [INFO] [1681207522.413121418] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[spawn_entity.py-3] [INFO] [1681207522.413236069] [spawn_entity]: Spawn Entity started
[spawn_entity.py-3] [INFO] [1681207522.413754676] [spawn_entity]: Loading entity XML from file /opt/ros/humble/share/nav2_bringup/worlds/waffle.model
[spawn_entity.py-3] [INFO] [1681207522.414878679] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-3] [INFO] [1681207522.415321794] [spawn_entity]: Waiting for service /spawn_entity
[component_container_isolated-6] [INFO] [1681207522.416627643] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[component_container_isolated-6] [INFO] [1681207522.427991217] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[component_container_isolated-6] [INFO] [1681207522.429915051] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[component_container_isolated-6] [INFO] [1681207522.430870694] [controller_server]: Controller Server has general_goal_checker  goal checkers available.
[component_container_isolated-6] [INFO] [1681207522.435476391] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[component_container_isolated-6] [INFO] [1681207522.441245500] [controller_server]: Setting transform_tolerance to 0.200000
[component_container_isolated-6] [INFO] [1681207522.462354358] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[component_container_isolated-6] [INFO] [1681207522.463328226] [controller_server]: Critic plugin initialized
[component_container_isolated-6] [INFO] [1681207522.463547523] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[component_container_isolated-6] [INFO] [1681207522.464303090] [controller_server]: Critic plugin initialized
[component_container_isolated-6] [INFO] [1681207522.464612048] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[component_container_isolated-6] [INFO] [1681207522.465060242] [controller_server]: Critic plugin initialized
[component_container_isolated-6] [INFO] [1681207522.465288539] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[component_container_isolated-6] [INFO] [1681207522.465692227] [controller_server]: Critic plugin initialized
[component_container_isolated-6] [INFO] [1681207522.465856779] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[component_container_isolated-6] [INFO] [1681207522.466276476] [controller_server]: Critic plugin initialized
[component_container_isolated-6] [INFO] [1681207522.466429192] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[component_container_isolated-6] [INFO] [1681207522.466722526] [controller_server]: Critic plugin initialized
[component_container_isolated-6] [INFO] [1681207522.466872879] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[component_container_isolated-6] [INFO] [1681207522.467182464] [controller_server]: Critic plugin initialized
[component_container_isolated-6] [INFO] [1681207522.467203102] [controller_server]: Controller Server has FollowPath  controllers available.
[component_container_isolated-6] [INFO] [1681207522.471747299] [lifecycle_manager_navigation]: Configuring smoother_server
[component_container_isolated-6] [INFO] [1681207522.471844598] [smoother_server]: Configuring smoother server
[component_container_isolated-6] [INFO] [1681207522.475959262] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
[component_container_isolated-6] [INFO] [1681207522.476758477] [smoother_server]: Smoother Server has simple_smoother  smoothers available.
[component_container_isolated-6] [INFO] [1681207522.480654352] [lifecycle_manager_navigation]: Configuring planner_server
[component_container_isolated-6] [INFO] [1681207522.480753925] [planner_server]: Configuring
[component_container_isolated-6] [INFO] [1681207522.480789368] [global_costmap.global_costmap]: Configuring
[component_container_isolated-6] [INFO] [1681207522.484338230] [global_costmap.global_costmap]: Using plugin "static_layer"
[component_container_isolated-6] [INFO] [1681207522.485735174] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[component_container_isolated-6] [INFO] [1681207522.486303679] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[component_container_isolated-6] [INFO] [1681207522.486330597] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[component_container_isolated-6] [INFO] [1681207522.487511863] [global_costmap.global_costmap]: Subscribed to Topics: scan
[rviz2-5] [INFO] [1681207522.489269747] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-5] [INFO] [1681207522.489389583] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[component_container_isolated-6] [INFO] [1681207522.491424514] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[component_container_isolated-6] [INFO] [1681207522.491452012] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[component_container_isolated-6] [INFO] [1681207522.492769962] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[component_container_isolated-6] [INFO] [1681207522.500421619] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[component_container_isolated-6] [INFO] [1681207522.500476943] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[component_container_isolated-6] [INFO] [1681207522.501733728] [planner_server]: Planner Server has GridBased  planners available.
[rviz2-5] [INFO] [1681207522.506584953] [rviz2]: Stereo is NOT SUPPORTED
[component_container_isolated-6] [INFO] [1681207522.509136942] [lifecycle_manager_navigation]: Configuring behavior_server
[component_container_isolated-6] [INFO] [1681207522.509262267] [behavior_server]: Configuring
[component_container_isolated-6] [INFO] [1681207522.513372403] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin
[component_container_isolated-6] [INFO] [1681207522.514700401] [behavior_server]: Configuring spin
[component_container_isolated-6] [INFO] [1681207522.519223775] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp
[component_container_isolated-6] [INFO] [1681207522.520840201] [behavior_server]: Configuring backup
[component_container_isolated-6] [INFO] [1681207522.526820793] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading
[component_container_isolated-6] [INFO] [1681207522.528249163] [behavior_server]: Configuring drive_on_heading
[component_container_isolated-6] [INFO] [1681207522.532121377] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop
[component_container_isolated-6] [INFO] [1681207522.534361831] [behavior_server]: Configuring assisted_teleop
[component_container_isolated-6] [INFO] [1681207522.540013600] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait
[component_container_isolated-6] [INFO] [1681207522.541330964] [behavior_server]: Configuring wait
[component_container_isolated-6] [INFO] [1681207522.545280585] [lifecycle_manager_navigation]: Configuring bt_navigator
[component_container_isolated-6] [INFO] [1681207522.545394621] [bt_navigator]: Configuring
[component_container_isolated-6] [INFO] [1681207522.556349241] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 384 X 384 at 0.050000 m/pix
[component_container_isolated-6] [INFO] [1681207522.633553525] [lifecycle_manager_navigation]: Configuring waypoint_follower
[component_container_isolated-6] [INFO] [1681207522.633645259] [waypoint_follower]: Configuring
[component_container_isolated-6] [INFO] [1681207522.639833362] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
[component_container_isolated-6] [INFO] [1681207522.640508805] [lifecycle_manager_navigation]: Configuring velocity_smoother
[component_container_isolated-6] [INFO] [1681207522.640598085] [velocity_smoother]: Configuring velocity smoother
[component_container_isolated-6] [INFO] [1681207522.643351767] [lifecycle_manager_navigation]: Activating controller_server
[component_container_isolated-6] [INFO] [1681207522.643448092] [controller_server]: Activating
[component_container_isolated-6] [INFO] [1681207522.643471633] [local_costmap.local_costmap]: Activating
[component_container_isolated-6] [INFO] [1681207522.643482779] [local_costmap.local_costmap]: Checking transform
[component_container_isolated-6] [INFO] [1681207522.643498316] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-6] [WARN] [1681207522.654581697] [amcl]: New subscription discovered on topic '/particle_cloud', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[rviz2-5] [INFO] [1681207522.743113850] [rviz2]: Trying to create a map of size 384 x 384 using 1 swatches
[rviz2-5] [ERROR] [1681207522.753860460] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result : 
[rviz2-5] active samplers with a different type refer to the same texture image unit
[component_container_isolated-6] [INFO] [1681207523.143584924] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-6] [INFO] [1681207523.643574227] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-6] [INFO] [1681207524.143550385] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-6] [INFO] [1681207524.643593224] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-6] [INFO] [1681207525.143608929] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[component_container_isolated-6] [INFO] [1681207525.643600624] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist

  1. Please describe the issue in detail.

    • on running the launch command according the docs the following things should happen

This launch file will launch Nav2 with the AMCL localizer in the turtlebot3_world world. It will also launch the robot state publisher to provide transforms, a Gazebo instance with the Turtlebot3 URDF, and RVIZ.

image

image

lonebots commented 1 year ago

I have followed the suggested method listed in an earlier issue #2757 [Can't open gazebo11 when run tb3_simulation_launch.py](https://github.com/ros-planning/navigation2/issues/2757#top). But, unfortunately all those methods didn't worked for me. Even after waiting for more than 15 minutes the same error message prevails

raziurtotha commented 9 months ago

Hi @lonebots , have you found any solution to this issue?

sosoeeee commented 7 months ago

I encounter the same issue! I solve it by running source /usr/share/gazebo/setup.bash before running the launch file

fatemehprhm commented 6 months ago

Hi, I did ran the navigation using ros2 launch nav2_bringup tb3_simulation_launch.py slam:=True by setting the slam param to true. This solved the problem for me.

herbertskyper commented 6 months ago

Hi,you can check if your terminal has a conda environment.I solved this problem by exiting the conda environment

yjrqz777 commented 5 months ago

I encounter the same issue! I solve it by running source /usr/share/gazebo/setup.bash before running the launch file

I solve it with you method,and thank!