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TempleRAIL / drl_vo_nav

[T-RO 2023] DRL-VO: Learning to Navigate Through Crowded Dynamic Scenes Using Velocity Obstacles
https://doi.org/10.1109/TRO.2023.3257549
GNU General Public License v3.0
113 stars 7 forks source link

Could not get robot pose #9

Closed caomuqing closed 8 months ago

caomuqing commented 8 months ago

Hi,

Thanks for this package. I am facing a similar issue as this issue, but I have read the conversation but still could not resolve the issue. It appears that all nodes are running successfully, and loading model is finished, there is no error message related to node dying. But there is some warning as shown below:

image

The rviz shows no output: image

I can see the gazebo spawns correctly, with the robot and moving people. What could be the issue?

zzuxzt commented 8 months ago

Have you tried restarting it? It looks like some parts related to the turtlebot2 TF model didn't run successfully. Or can you provide more terminal log information?

caomuqing commented 8 months ago

Thank you for your reply. I have tried restarting it many times. Here is the log output from running sh run_drl_vo_navigation_demo.sh to kill:

... logging to /home/iot02/.ros/log/9cfbc5a8-6e36-11ee-abbf-799c719367ea/roslaunch-iotdelta-233059.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://iotdelta:45169/

SUMMARY
========

PARAMETERS
 * /amcl/base_frame_id: base_footprint
 * /amcl/global_frame_id: map
 * /amcl/gui_publish_rate: 10.0
 * /amcl/initial_pose_a: 0.13
 * /amcl/initial_pose_x: 1.0
 * /amcl/initial_pose_y: 0.0
 * /amcl/kld_err: 0.05
 * /amcl/kld_z: 0.99
 * /amcl/laser_lambda_short: 0.1
 * /amcl/laser_likelihood_max_dist: 2.0
 * /amcl/laser_max_beams: 60
 * /amcl/laser_max_range: 12.0
 * /amcl/laser_model_type: likelihood_field
 * /amcl/laser_sigma_hit: 0.2
 * /amcl/laser_z_hit: 0.5
 * /amcl/laser_z_max: 0.05
 * /amcl/laser_z_rand: 0.5
 * /amcl/laser_z_short: 0.05
 * /amcl/max_particles: 2000
 * /amcl/min_particles: 500
 * /amcl/odom_alpha1: 0.2
 * /amcl/odom_alpha2: 0.2
 * /amcl/odom_alpha3: 0.2
 * /amcl/odom_alpha4: 0.2
 * /amcl/odom_alpha5: 0.1
 * /amcl/odom_frame_id: odom
 * /amcl/odom_model_type: diff
 * /amcl/recovery_alpha_fast: 0.0
 * /amcl/recovery_alpha_slow: 0.0
 * /amcl/resample_interval: 1
 * /amcl/transform_tolerance: 1.0
 * /amcl/update_min_a: 0.2
 * /amcl/update_min_d: 0.25
 * /amcl/use_map_topic: False
 * /bumper2pointcloud/pointcloud_radius: 0.24
 * /cmd_vel_mux/yaml_cfg_file: /home/iot02/catki...
 * /drl_vo_cmd/model_file: /home/iot02/catki...
 * /gazebo/enable_ros_network: True
 * /move_base/DWAPlannerROS/acc_lim_theta: 2.0
 * /move_base/DWAPlannerROS/acc_lim_x: 1.0
 * /move_base/DWAPlannerROS/acc_lim_y: 1.0
 * /move_base/DWAPlannerROS/forward_point_distance: 0.5
 * /move_base/DWAPlannerROS/global_frame_id: odom
 * /move_base/DWAPlannerROS/goal_distance_bias: 24.0
 * /move_base/DWAPlannerROS/max_scaling_factor: 0.2
 * /move_base/DWAPlannerROS/max_vel_rot: 3.0
 * /move_base/DWAPlannerROS/max_vel_trans: 0.5
 * /move_base/DWAPlannerROS/max_vel_x: 0.5
 * /move_base/DWAPlannerROS/max_vel_y: 0.0
 * /move_base/DWAPlannerROS/min_vel_rot: 0.4
 * /move_base/DWAPlannerROS/min_vel_trans: 0.1
 * /move_base/DWAPlannerROS/min_vel_x: 0.0
 * /move_base/DWAPlannerROS/min_vel_y: 0.0
 * /move_base/DWAPlannerROS/occdist_scale: 0.5
 * /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
 * /move_base/DWAPlannerROS/path_distance_bias: 64.0
 * /move_base/DWAPlannerROS/publish_cost_grid_pc: True
 * /move_base/DWAPlannerROS/publish_traj_pc: True
 * /move_base/DWAPlannerROS/scaling_speed: 0.25
 * /move_base/DWAPlannerROS/sim_time: 1.0
 * /move_base/DWAPlannerROS/stop_time_buffer: 0.2
 * /move_base/DWAPlannerROS/theta_stopped_vel: 0.4
 * /move_base/DWAPlannerROS/trans_stopped_vel: 0.1
 * /move_base/DWAPlannerROS/vtheta_samples: 20
 * /move_base/DWAPlannerROS/vx_samples: 6
 * /move_base/DWAPlannerROS/vy_samples: 1
 * /move_base/DWAPlannerROS/xy_goal_tolerance: 0.9
 * /move_base/DWAPlannerROS/yaw_goal_tolerance: 6.28
 * /move_base/GlobalPlanner/allow_unknown: True
 * /move_base/GlobalPlanner/cost_factor: 3.0
 * /move_base/GlobalPlanner/default_tolerance: 0.3
 * /move_base/GlobalPlanner/lethal_cost: 253
 * /move_base/GlobalPlanner/neutral_cost: 50
 * /move_base/GlobalPlanner/old_navfn_behavior: False
 * /move_base/GlobalPlanner/planner_costmap_publish_frequency: 0.0
 * /move_base/GlobalPlanner/planner_window_x: 0.0
 * /move_base/GlobalPlanner/planner_window_y: 0.0
 * /move_base/GlobalPlanner/publish_potential: True
 * /move_base/GlobalPlanner/publish_scale: 100
 * /move_base/GlobalPlanner/use_dijkstra: True
 * /move_base/GlobalPlanner/use_grid_path: False
 * /move_base/GlobalPlanner/use_quadratic: True
 * /move_base/NavfnROS/allow_unknown: False
 * /move_base/NavfnROS/default_tolerance: 0.3
 * /move_base/NavfnROS/planner_window_x: 0.0
 * /move_base/NavfnROS/planner_window_y: 0.0
 * /move_base/NavfnROS/visualize_potential: False
 * /move_base/base_global_planner: navfn/NavfnROS
 * /move_base/base_local_planner: dwa_local_planner...
 * /move_base/controller_frequency: 5.0
 * /move_base/controller_patience: 3.0
 * /move_base/global_costmap/global_frame: map
 * /move_base/global_costmap/inflation_layer/cost_scaling_factor: 5.0
 * /move_base/global_costmap/inflation_layer/enabled: True
 * /move_base/global_costmap/inflation_layer/inflation_radius: 0.5
 * /move_base/global_costmap/map_type: voxel
 * /move_base/global_costmap/max_obstacle_height: 0.6
 * /move_base/global_costmap/obstacle_layer/bump/clearing: False
 * /move_base/global_costmap/obstacle_layer/bump/data_type: PointCloud2
 * /move_base/global_costmap/obstacle_layer/bump/marking: True
 * /move_base/global_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
 * /move_base/global_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
 * /move_base/global_costmap/obstacle_layer/bump/topic: mobile_base/senso...
 * /move_base/global_costmap/obstacle_layer/combination_method: 1
 * /move_base/global_costmap/obstacle_layer/enabled: True
 * /move_base/global_costmap/obstacle_layer/mark_threshold: 0
 * /move_base/global_costmap/obstacle_layer/max_obstacle_height: 0.6
 * /move_base/global_costmap/obstacle_layer/observation_sources: scan bump
 * /move_base/global_costmap/obstacle_layer/obstacle_range: 2.5
 * /move_base/global_costmap/obstacle_layer/origin_z: 0.0
 * /move_base/global_costmap/obstacle_layer/publish_voxel_map: False
 * /move_base/global_costmap/obstacle_layer/raytrace_range: 3.0
 * /move_base/global_costmap/obstacle_layer/scan/clearing: True
 * /move_base/global_costmap/obstacle_layer/scan/data_type: LaserScan
 * /move_base/global_costmap/obstacle_layer/scan/marking: True
 * /move_base/global_costmap/obstacle_layer/scan/max_obstacle_height: 0.35
 * /move_base/global_costmap/obstacle_layer/scan/min_obstacle_height: 0.15
 * /move_base/global_costmap/obstacle_layer/scan/topic: scan
 * /move_base/global_costmap/obstacle_layer/track_unknown_space: True
 * /move_base/global_costmap/obstacle_layer/unknown_threshold: 15
 * /move_base/global_costmap/obstacle_layer/z_resolution: 0.2
 * /move_base/global_costmap/obstacle_layer/z_voxels: 2
 * /move_base/global_costmap/plugins: [{'name': 'static...
 * /move_base/global_costmap/publish_frequency: 0.5
 * /move_base/global_costmap/robot_base_frame: base_footprint
 * /move_base/global_costmap/robot_radius: 0.2
 * /move_base/global_costmap/static_layer/enabled: True
 * /move_base/global_costmap/static_map: True
 * /move_base/global_costmap/transform_tolerance: 0.5
 * /move_base/global_costmap/update_frequency: 1.0
 * /move_base/local_costmap/global_frame: odom
 * /move_base/local_costmap/height: 4.0
 * /move_base/local_costmap/inflation_layer/cost_scaling_factor: 5.0
 * /move_base/local_costmap/inflation_layer/enabled: True
 * /move_base/local_costmap/inflation_layer/inflation_radius: 0.5
 * /move_base/local_costmap/map_type: voxel
 * /move_base/local_costmap/max_obstacle_height: 0.6
 * /move_base/local_costmap/obstacle_layer/bump/clearing: False
 * /move_base/local_costmap/obstacle_layer/bump/data_type: PointCloud2
 * /move_base/local_costmap/obstacle_layer/bump/marking: True
 * /move_base/local_costmap/obstacle_layer/bump/max_obstacle_height: 0.15
 * /move_base/local_costmap/obstacle_layer/bump/min_obstacle_height: 0.0
 * /move_base/local_costmap/obstacle_layer/bump/topic: mobile_base/senso...
 * /move_base/local_costmap/obstacle_layer/combination_method: 1
 * /move_base/local_costmap/obstacle_layer/enabled: True
 * /move_base/local_costmap/obstacle_layer/mark_threshold: 0
 * /move_base/local_costmap/obstacle_layer/max_obstacle_height: 0.6
 * /move_base/local_costmap/obstacle_layer/observation_sources: scan bump
 * /move_base/local_costmap/obstacle_layer/obstacle_range: 2.5
 * /move_base/local_costmap/obstacle_layer/origin_z: 0.0
 * /move_base/local_costmap/obstacle_layer/publish_voxel_map: False
 * /move_base/local_costmap/obstacle_layer/raytrace_range: 3.0
 * /move_base/local_costmap/obstacle_layer/scan/clearing: True
 * /move_base/local_costmap/obstacle_layer/scan/data_type: LaserScan
 * /move_base/local_costmap/obstacle_layer/scan/marking: True
 * /move_base/local_costmap/obstacle_layer/scan/max_obstacle_height: 0.35
 * /move_base/local_costmap/obstacle_layer/scan/min_obstacle_height: 0.15
 * /move_base/local_costmap/obstacle_layer/scan/topic: scan
 * /move_base/local_costmap/obstacle_layer/track_unknown_space: True
 * /move_base/local_costmap/obstacle_layer/unknown_threshold: 15
 * /move_base/local_costmap/obstacle_layer/z_resolution: 0.2
 * /move_base/local_costmap/obstacle_layer/z_voxels: 2
 * /move_base/local_costmap/plugins: [{'name': 'obstac...
 * /move_base/local_costmap/publish_frequency: 2.0
 * /move_base/local_costmap/resolution: 0.05
 * /move_base/local_costmap/robot_base_frame: base_footprint
 * /move_base/local_costmap/robot_radius: 0.2
 * /move_base/local_costmap/rolling_window: True
 * /move_base/local_costmap/static_layer/enabled: True
 * /move_base/local_costmap/static_map: False
 * /move_base/local_costmap/transform_tolerance: 0.5
 * /move_base/local_costmap/update_frequency: 5.0
 * /move_base/local_costmap/width: 4.0
 * /move_base/oscillation_distance: 0.2
 * /move_base/oscillation_timeout: 10.0
 * /move_base/planner_frequency: 1.0
 * /move_base/planner_patience: 5.0
 * /move_base/shutdown_costmaps: False
 * /navigation_velocity_smoother/accel_lim_v: 1.0
 * /navigation_velocity_smoother/accel_lim_w: 2.0
 * /navigation_velocity_smoother/decel_factor: 1.5
 * /navigation_velocity_smoother/frequency: 20.0
 * /navigation_velocity_smoother/robot_feedback: 2
 * /navigation_velocity_smoother/speed_lim_v: 0.8
 * /navigation_velocity_smoother/speed_lim_w: 5.4
 * /pedsim_simulator/default_queue_size: 10
 * /pedsim_simulator/enable_groups: True
 * /pedsim_simulator/frame_id: gazebo
 * /pedsim_simulator/max_robot_speed: 1.5
 * /pedsim_simulator/robot_mode: 1
 * /pedsim_simulator/scene_file: /home/iot02/catki...
 * /pedsim_simulator/simulation_factor: 1.0
 * /pedsim_simulator/update_rate: 25.0
 * /pure_pursuit/rate: 20.0
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 30.0
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /teleop_velocity_smoother/accel_lim_v: 1.0
 * /teleop_velocity_smoother/accel_lim_w: 2.0
 * /teleop_velocity_smoother/decel_factor: 1.5
 * /teleop_velocity_smoother/frequency: 20.0
 * /teleop_velocity_smoother/robot_feedback: 2
 * /teleop_velocity_smoother/speed_lim_v: 0.8
 * /teleop_velocity_smoother/speed_lim_w: 5.4
 * /use_sim_time: True

NODES
  /
    amcl (amcl/amcl)
    bumper2pointcloud (nodelet/nodelet)
    cmd_vel_mux (nodelet/nodelet)
    cnn_data_pub (drl_vo_nav/cnn_data_pub.py)
    drl_vo_cmd (drl_vo_nav/drl_vo_inference.py)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    gazebo_map_broadcaster (tf/static_transform_publisher)
    goal_visualize (drl_vo_nav/goal_visualize.py)
    kobuki_safety_controller (nodelet/nodelet)
    map_server (map_server/map_server)
    mix_cmd_vel (drl_vo_nav/cmd_vel_pub.py)
    mobile_base_nodelet_manager (nodelet/nodelet)
    move_base (move_base/move_base)
    navigation_velocity_smoother (nodelet/nodelet)
    pedsim_simulator (pedsim_simulator/pedsim_simulator)
    pedsim_visualizer (pedsim_visualizer/pedsim_visualizer_node)
    pure_pursuit (drl_vo_nav/pure_pursuit.py)
    robot_pose_pub (drl_vo_nav/robot_pose_pub.py)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    spawn_pedsim_agents (pedsim_gazebo_plugin/spawn_pedsim_agents.py)
    spawn_turtlebot_model (gazebo_ros/spawn_model)
    teleop_velocity_smoother (nodelet/nodelet)
    track_ped_pub (drl_vo_nav/track_ped_pub.py)

auto-starting new master
process[master]: started with pid [233209]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 9cfbc5a8-6e36-11ee-abbf-799c719367ea
process[rosout-1]: started with pid [233289]
started core service [/rosout]
process[gazebo-2]: started with pid [233296]
process[gazebo_gui-3]: started with pid [233298]
process[spawn_pedsim_agents-4]: started with pid [233303]
process[gazebo_map_broadcaster-5]: started with pid [233307]
process[spawn_turtlebot_model-6]: started with pid [233308]
process[mobile_base_nodelet_manager-7]: started with pid [233309]
process[cmd_vel_mux-8]: started with pid [233310]
process[bumper2pointcloud-9]: started with pid [233316]
process[robot_state_publisher-10]: started with pid [233317]
process[pedsim_simulator-11]: started with pid [233322]
process[pedsim_visualizer-12]: started with pid [233367]
process[map_server-13]: started with pid [233447]
process[amcl-14]: started with pid [233450]
process[navigation_velocity_smoother-15]: started with pid [233456]
process[kobuki_safety_controller-16]: started with pid [233457]
process[move_base-17]: started with pid [233462]
process[pure_pursuit-18]: started with pid [233465]
process[cnn_data_pub-19]: started with pid [233474]
process[robot_pose_pub-20]: started with pid [233476]
process[track_ped_pub-21]: started with pid [233485]
process[goal_visualize-22]: started with pid [233489]
process[teleop_velocity_smoother-23]: started with pid [233490]
process[drl_vo_cmd-24]: started with pid [233492]
process[mix_cmd_vel-25]: started with pid [233499]
process[rviz-26]: started with pid [233531]
[ INFO] [1697689135.123495825]: Updated sim with live config: Rate=25 incoming rate=25
[ INFO] [1697689135.128993214]: Using default queue size of 10 for publisher queues... 
[ INFO] [1697689135.132302421]: Loading scene [/home/iot02/catkin_drl/src/pedsim_ros_with_gazebo/pedsim_simulator/scenarios/eng_hall.xml] for simulation
[ INFO] [1697689135.136613240]: node initialized, now running 
[WARN] [1697689135.516196, 0.000000]: Could not get robot pose
Waiting for gazebo services...
[ INFO] [1697689135.605180651]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1697689135.607306057]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1697689135.732126597]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1697689135.734410789]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1697689137.003325004]: waitForService: Service [/gazebo/set_physics_properties] is now available.
service: spawn_sdf_model is available ....
[ INFO] [1697689137.086728374, 0.031000000]: Physics dynamic reconfigure ready.
[WARN] [1697689137.151299, 0.093000]: Could not get robot pose
[WARN] [1697689137.153785, 0.095000]: Could not get robot pose
[WARN] [1697689137.158476, 0.100000]: Could not get robot pose
[WARN] [1697689137.193151, 0.134000]: Could not get robot pose
[WARN] [1697689137.226708, 0.167000]: Could not get robot pose
[WARN] [1697689137.260059, 0.200000]: Could not get robot pose
[WARN] [1697689137.294445, 0.234000]: Could not get robot pose
[WARN] [1697689137.327630, 0.267000]: Could not get robot pose
[ INFO] [1697689137.919634012, 0.270000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1697689137.924641811, 0.270000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[INFO] [1697689138.207164, 0.270000]: Spawning model: actor_id = 1
[ INFO] [1697689138.425962345, 0.270000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1697689138.426038930, 0.270000000]: Starting Laser Plugin (ns = /)
[ INFO] [1697689138.428344658, 0.270000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1697689138.529334598, 0.270000000]: Starting plugin Kobuki(ns = //)
[ WARN] [1697689138.529419434, 0.270000000]: Kobuki(ns = //): missing <rosDebugLevel> default is na
[ INFO] [1697689138.530387650, 0.270000000]: Kobuki(ns = //): <tf_prefix> = 
[ WARN] [1697689138.531128218, 0.270000000]: Kobuki(ns = //): missing <update_rate> default is 0
[ INFO] [1697689138.531370517, 0.270000000]: Will publish tf. [mobile_base]
[ERROR] [1697689138.532291905, 0.270000000]: Couldn't find the name of one of the wheel drop sensors in the model description! Did you specify it? [mobile_base]
[WARN] [1697689138.566937, 0.300000]: Could not get robot pose
[WARN] [1697689138.605247, 0.334000]: Could not get robot pose
[WARN] [1697689138.642362, 0.367000]: Could not get robot pose
[WARN] [1697689138.683351, 0.400000]: Could not get robot pose
[WARN] [1697689138.721670, 0.434000]: Could not get robot pose
[INFO] [1697689138.789209, 0.446000]: Spawning model: actor_id = 2
[WARN] [1697689139.115735, 0.467000]: Could not get robot pose
[WARN] [1697689139.157183, 0.500000]: Could not get robot pose
[WARN] [1697689139.195787, 0.534000]: Could not get robot pose
[WARN] [1697689139.233338, 0.567000]: Could not get robot pose
[WARN] [1697689139.275029, 0.600000]: Could not get robot pose
[INFO] [1697689139.338070, 0.617000]: Spawning model: actor_id = 3
[WARN] [1697689139.395972, 0.634000]: Could not get robot pose
Finish loading model.
[WARN] [1697689139.431989, 0.667000]: Could not get robot pose
[WARN] [1697689139.471951, 0.700000]: Could not get robot pose
[spawn_turtlebot_model-6] process has finished cleanly
log file: /home/iot02/.ros/log/9cfbc5a8-6e36-11ee-abbf-799c719367ea/spawn_turtlebot_model-6*.log
[WARN] [1697689139.510568, 0.734000]: Could not get robot pose
[WARN] [1697689139.547891, 0.767000]: Could not get robot pose
[INFO] [1697689139.628031, 0.792000]: Spawning model: actor_id = 4
[WARN] [1697689139.677497, 0.800000]: Could not get robot pose
[WARN] [1697689139.715256, 0.834000]: Could not get robot pose
[WARN] [1697689139.753472, 0.867000]: Could not get robot pose
[WARN] [1697689139.796578, 0.900000]: Could not get robot pose
[WARN] [1697689139.835687, 0.934000]: Could not get robot pose
[INFO] [1697689139.917758, 0.963000]: Spawning model: actor_id = 5
[WARN] [1697689139.956175, 0.967000]: Could not get robot pose
[WARN] [1697689140.075976, 1.000000]: Could not get robot pose
[WARN] [1697689140.139071, 1.034000]: Could not get robot pose
[INFO] [1697689140.189311, 1.037000]: Spawning model: actor_id = 6
[WARN] [1697689140.271627, 1.067000]: Could not get robot pose
[WARN] [1697689140.314708, 1.100000]: Could not get robot pose
[WARN] [1697689140.355423, 1.134000]: Could not get robot pose
[WARN] [1697689140.394932, 1.167000]: Could not get robot pose
[INFO] [1697689140.449973, 1.183000]: Spawning model: actor_id = 7
[WARN] [1697689140.518277, 1.200000]: Could not get robot pose
[WARN] [1697689140.557375, 1.234000]: Could not get robot pose
[WARN] [1697689140.596448, 1.267000]: Could not get robot pose
[WARN] [1697689140.641876, 1.300000]: Could not get robot pose
[INFO] [1697689140.718334, 1.332000]: Spawning model: actor_id = 8
[WARN] [1697689140.750787, 1.334000]: Could not get robot pose
[WARN] [1697689140.809512, 1.367000]: Could not get robot pose
[WARN] [1697689140.865377, 1.400000]: Could not get robot pose
[WARN] [1697689140.905759, 1.434000]: Could not get robot pose
[WARN] [1697689140.945095, 1.467000]: Could not get robot pose
[INFO] [1697689140.982155, 1.468000]: Spawning model: actor_id = 9
[WARN] [1697689141.066387, 1.500000]: Could not get robot pose
[WARN] [1697689141.107611, 1.534000]: Could not get robot pose
[WARN] [1697689141.147194, 1.567000]: Could not get robot pose
[WARN] [1697689141.192740, 1.600000]: Could not get robot pose
[INFO] [1697689141.251065, 1.616000]: Spawning model: actor_id = 10
[WARN] [1697689141.322027, 1.634000]: Could not get robot pose
[WARN] [1697689141.418232, 1.667000]: Could not get robot pose
[INFO] [1697689141.502011, 1.684000]: Spawning model: actor_id = 11
[WARN] [1697689141.559016, 1.700000]: Could not get robot pose
[WARN] [1697689141.618249, 1.734000]: Could not get robot pose
[WARN] [1697689141.677998, 1.767000]: Could not get robot pose
[INFO] [1697689141.757174, 1.794000]: Spawning model: actor_id = 12
[WARN] [1697689141.805578, 1.800000]: Could not get robot pose
[WARN] [1697689141.847660, 1.834000]: Could not get robot pose
[WARN] [1697689141.889665, 1.867000]: Could not get robot pose
[WARN] [1697689141.938323, 1.900000]: Could not get robot pose
[WARN] [1697689141.979099, 1.934000]: Could not get robot pose
[INFO] [1697689142.025711, 1.951000]: Spawning model: actor_id = 13
[WARN] [1697689142.093679, 1.967000]: Could not get robot pose
[WARN] [1697689142.141365, 2.000000]: Could not get robot pose
[WARN] [1697689142.183609, 2.034000]: Could not get robot pose
[WARN] [1697689142.225476, 2.067000]: Could not get robot pose
[INFO] [1697689142.304301, 2.097000]: Spawning model: actor_id = 14
[WARN] [1697689142.348512, 2.100000]: Could not get robot pose
[WARN] [1697689142.389331, 2.134000]: Could not get robot pose
[WARN] [1697689142.428157, 2.167000]: Could not get robot pose
[WARN] [1697689142.475424, 2.200000]: Could not get robot pose
[WARN] [1697689142.516232, 2.234000]: Could not get robot pose
[INFO] [1697689142.581844, 2.254000]: Spawning model: actor_id = 15
[WARN] [1697689142.654584, 2.267000]: Could not get robot pose
[WARN] [1697689142.701154, 2.300000]: Could not get robot pose
[WARN] [1697689142.743556, 2.334000]: Could not get robot pose
[WARN] [1697689142.784111, 2.367000]: Could not get robot pose
[WARN] [1697689142.831751, 2.400000]: Could not get robot pose
[INFO] [1697689142.877141, 2.409000]: Spawning model: actor_id = 16
[WARN] [1697689142.951170, 2.434000]: Could not get robot pose
[WARN] [1697689142.992778, 2.467000]: Could not get robot pose
[WARN] [1697689143.040096, 2.500000]: Could not get robot pose
[WARN] [1697689143.080083, 2.534000]: Could not get robot pose
[INFO] [1697689143.157273, 2.564000]: Spawning model: actor_id = 17
[WARN] [1697689143.214589, 2.567000]: Could not get robot pose
[WARN] [1697689143.259955, 2.600000]: Could not get robot pose
[WARN] [1697689143.301262, 2.634000]: Could not get robot pose
[WARN] [1697689143.342600, 2.667000]: Could not get robot pose
[WARN] [1697689143.390818, 2.700000]: Could not get robot pose
[INFO] [1697689143.437637, 2.719000]: Spawning model: actor_id = 18
[WARN] [1697689143.488011, 2.734000]: Could not get robot pose
[WARN] [1697689143.529480, 2.767000]: Could not get robot pose
[WARN] [1697689143.577627, 2.800000]: Could not get robot pose
[WARN] [1697689143.620068, 2.834000]: Could not get robot pose
[WARN] [1697689143.660685, 2.867000]: Could not get robot pose
[INFO] [1697689143.694228, 2.871000]: Spawning model: actor_id = 19
[WARN] [1697689143.757628, 2.900000]: Could not get robot pose
[WARN] [1697689143.798822, 2.934000]: Could not get robot pose
[WARN] [1697689143.837093, 2.967000]: Could not get robot pose
[WARN] [1697689143.886682, 3.000000]: Could not get robot pose
[INFO] [1697689143.970428, 3.032000]: Spawning model: actor_id = 20
[WARN] [1697689144.010773, 3.034000]: Could not get robot pose
[WARN] [1697689144.053653, 3.067000]: Could not get robot pose
[WARN] [1697689144.103528, 3.100000]: Could not get robot pose
[WARN] [1697689144.146418, 3.134000]: Could not get robot pose
[WARN] [1697689144.187815, 3.167000]: Could not get robot pose
[INFO] [1697689144.248597, 3.179000]: Spawning model: actor_id = 21
[WARN] [1697689144.317945, 3.200000]: Could not get robot pose
[WARN] [1697689144.359257, 3.234000]: Could not get robot pose
[WARN] [1697689144.400612, 3.267000]: Could not get robot pose
[WARN] [1697689144.447357, 3.300000]: Could not get robot pose
[WARN] [1697689144.489527, 3.334000]: Could not get robot pose
[INFO] [1697689144.525553, 3.335000]: Spawning model: actor_id = 22
[WARN] [1697689144.607074, 3.367000]: Could not get robot pose
[WARN] [1697689144.656449, 3.400000]: Could not get robot pose
[WARN] [1697689144.691162, 3.434000]: Could not get robot pose
[WARN] [1697689144.744795, 3.467000]: Could not get robot pose
[INFO] [1697689144.800489, 3.482000]: Spawning model: actor_id = 23
[WARN] [1697689144.856100, 3.500000]: Could not get robot pose
[WARN] [1697689144.898672, 3.534000]: Could not get robot pose
[WARN] [1697689144.940590, 3.567000]: Could not get robot pose
[WARN] [1697689144.990410, 3.600000]: Could not get robot pose
[INFO] [1697689145.070076, 3.632000]: Spawning model: actor_id = 24
[WARN] [1697689145.098187, 3.634000]: Could not get robot pose
[WARN] [1697689145.142803, 3.667000]: Could not get robot pose
[WARN] [1697689145.196210, 3.700000]: Could not get robot pose
[WARN] [1697689145.242480, 3.734000]: Could not get robot pose
[WARN] [1697689145.284113, 3.767000]: Could not get robot pose
[INFO] [1697689145.332912, 3.773000]: Spawning model: actor_id = 25
[WARN] [1697689145.395294, 3.800000]: Could not get robot pose
[WARN] [1697689145.435664, 3.834000]: Could not get robot pose
[WARN] [1697689145.479655, 3.867000]: Could not get robot pose
[WARN] [1697689145.533003, 3.900000]: Could not get robot pose
[INFO] [1697689145.601007, 3.927000]: Spawning model: actor_id = 26
[WARN] [1697689145.642733, 3.934000]: Could not get robot pose
[WARN] [1697689145.689935, 3.967000]: Could not get robot pose
[WARN] [1697689145.740518, 4.000000]: Could not get robot pose
[WARN] [1697689145.787648, 4.034000]: Could not get robot pose
[INFO] [1697689145.857983, 4.062000]: Spawning model: actor_id = 27
[WARN] [1697689145.888967, 4.067000]: Could not get robot pose
[WARN] [1697689145.947232, 4.100000]: Could not get robot pose
[WARN] [1697689145.988706, 4.134000]: Could not get robot pose
[WARN] [1697689146.037931, 4.167000]: Could not get robot pose
[INFO] [1697689146.117634, 4.193000]: Spawning model: actor_id = 28
[WARN] [1697689146.150428, 4.200000]: Could not get robot pose
[WARN] [1697689146.197845, 4.234000]: Could not get robot pose
[WARN] [1697689146.247370, 4.267000]: Could not get robot pose
[WARN] [1697689146.301044, 4.300000]: Could not get robot pose
[INFO] [1697689146.394420, 4.333000]: Spawning model: actor_id = 29
[WARN] [1697689146.422693, 4.334000]: Could not get robot pose
[WARN] [1697689146.464014, 4.367000]: Could not get robot pose
[WARN] [1697689146.520746, 4.400000]: Could not get robot pose
[WARN] [1697689146.568765, 4.434000]: Could not get robot pose
[WARN] [1697689146.621278, 4.467000]: Could not get robot pose
[INFO] [1697689146.651859, 4.467000]: Spawning model: actor_id = 30
[WARN] [1697689146.733183, 4.500000]: Could not get robot pose
[WARN] [1697689146.776144, 4.534000]: Could not get robot pose
[WARN] [1697689146.821247, 4.567000]: Could not get robot pose
[WARN] [1697689146.870628, 4.600000]: Could not get robot pose
[INFO] [1697689146.906020, 4.607000]: Spawning model: actor_id = 31
[WARN] [1697689146.972347, 4.634000]: Could not get robot pose
[WARN] [1697689147.018555, 4.667000]: Could not get robot pose
[WARN] [1697689147.077187, 4.700000]: Could not get robot pose
[WARN] [1697689147.122701, 4.734000]: Could not get robot pose
[INFO] [1697689147.163087, 4.743000]: Spawning model: actor_id = 32
[WARN] [1697689147.237469, 4.767000]: Could not get robot pose
[WARN] [1697689147.290876, 4.800000]: Could not get robot pose
[WARN] [1697689147.334850, 4.834000]: Could not get robot pose
[WARN] [1697689147.383613, 4.867000]: Could not get robot pose
[INFO] [1697689147.431974, 4.880000]: Spawning model: actor_id = 33
[WARN] [1697689147.527044, 4.900000]: Could not get robot pose
[WARN] [1697689147.568537, 4.934000]: Could not get robot pose
[WARN] [1697689147.622261, 4.967000]: Could not get robot pose
[WARN] [1697689147.676895, 5.000000]: Could not get robot pose
[INFO] [1697689147.718225, 5.009000]: Spawning model: actor_id = 34
[ WARN] [1697689147.761117032, 5.021000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.1 timeout was 0.1.
[WARN] [1697689147.782913, 5.034000]: Could not get robot pose
[WARN] [1697689147.825285, 5.067000]: Could not get robot pose
[WARN] [1697689147.884999, 5.100000]: Could not get robot pose
[WARN] [1697689147.931008, 5.134000]: Could not get robot pose
[WARN] [1697689148.053384, 5.167000]: Could not get robot pose
[WARN] [1697689148.109604, 5.200000]: Could not get robot pose
[spawn_pedsim_agents-4] process has finished cleanly
log file: /home/iot02/.ros/log/9cfbc5a8-6e36-11ee-abbf-799c719367ea/spawn_pedsim_agents-4*.log
[WARN] [1697689148.157256, 5.234000]: Could not get robot pose
[WARN] [1697689148.212276, 5.267000]: Could not get robot pose
[WARN] [1697689148.263445, 5.300000]: Could not get robot pose
[WARN] [1697689148.315740, 5.334000]: Could not get robot pose
[WARN] [1697689148.362868, 5.367000]: Could not get robot pose
[WARN] [1697689148.418705, 5.400000]: Could not get robot pose
[WARN] [1697689148.459441, 5.434000]: Could not get robot pose
[WARN] [1697689148.514902, 5.467000]: Could not get robot pose
[WARN] [1697689148.572477, 5.500000]: Could not get robot pose
[WARN] [1697689148.684097, 5.534000]: Could not get robot pose
[WARN] [1697689148.813452, 5.567000]: Could not get robot pose
[WARN] [1697689148.932963, 5.600000]: Could not get robot pose
[WARN] [1697689149.074630, 5.634000]: Could not get robot pose
[WARN] [1697689149.223478, 5.667000]: Could not get robot pose
[WARN] [1697689149.412144, 5.700000]: Could not get robot pose
[WARN] [1697689149.578859, 5.734000]: Could not get robot pose
[WARN] [1697689149.776053, 5.767000]: Could not get robot pose
[WARN] [1697689149.897934, 5.800000]: Could not get robot pose
[WARN] [1697689149.958808, 5.834000]: Could not get robot pose
[WARN] [1697689150.068260, 5.867000]: Could not get robot pose
[WARN] [1697689150.141212, 5.900000]: Could not get robot pose
[WARN] [1697689150.189210, 5.934000]: Could not get robot pose
[WARN] [1697689150.257661, 5.967000]: Could not get robot pose
[WARN] [1697689150.332827, 6.000000]: Could not get robot pose
[WARN] [1697689150.384268, 6.034000]: Could not get robot pose
[WARN] [1697689150.439451, 6.067000]: Could not get robot pose
[WARN] [1697689150.492509, 6.100000]: Could not get robot pose
[WARN] [1697689150.547935, 6.134000]: Could not get robot pose
[WARN] [1697689150.602741, 6.167000]: Could not get robot pose
[WARN] [1697689150.657053, 6.200000]: Could not get robot pose
[WARN] [1697689150.705063, 6.234000]: Could not get robot pose
[WARN] [1697689150.749985, 6.267000]: Could not get robot pose
[WARN] [1697689150.805023, 6.300000]: Could not get robot pose
[WARN] [1697689150.859507, 6.334000]: Could not get robot pose
[WARN] [1697689150.930947, 6.367000]: Could not get robot pose
[WARN] [1697689151.046292, 6.400000]: Could not get robot pose
[WARN] [1697689151.150327, 6.434000]: Could not get robot pose
[WARN] [1697689151.381608, 6.467000]: Could not get robot pose
[WARN] [1697689151.548675, 6.500000]: Could not get robot pose
[WARN] [1697689151.698642, 6.534000]: Could not get robot pose
[WARN] [1697689151.870234, 6.567000]: Could not get robot pose
[WARN] [1697689152.066046, 6.600000]: Could not get robot pose
[WARN] [1697689152.297044, 6.634000]: Could not get robot pose
[WARN] [1697689152.485068, 6.667000]: Could not get robot pose
[WARN] [1697689152.660981, 6.700000]: Could not get robot pose
[WARN] [1697689152.896897, 6.734000]: Could not get robot pose
[WARN] [1697689153.100745, 6.767000]: Could not get robot pose
[WARN] [1697689153.308160, 6.800000]: Could not get robot pose
[WARN] [1697689153.446306, 6.834000]: Could not get robot pose
[WARN] [1697689153.550057, 6.867000]: Could not get robot pose
[WARN] [1697689153.689582, 6.900000]: Could not get robot pose
[WARN] [1697689153.746918, 6.934000]: Could not get robot pose
[WARN] [1697689153.806811, 6.967000]: Could not get robot pose
[WARN] [1697689153.868388, 7.000000]: Could not get robot pose
[WARN] [1697689153.919997, 7.034000]: Could not get robot pose
[WARN] [1697689153.984256, 7.067000]: Could not get robot pose
[WARN] [1697689154.051027, 7.100000]: Could not get robot pose
[WARN] [1697689154.105934, 7.134000]: Could not get robot pose
[WARN] [1697689154.160205, 7.167000]: Could not get robot pose
[WARN] [1697689154.237447, 7.200000]: Could not get robot pose
[WARN] [1697689154.293802, 7.234000]: Could not get robot pose
[WARN] [1697689154.348786, 7.267000]: Could not get robot pose
[WARN] [1697689154.403735, 7.300000]: Could not get robot pose
[WARN] [1697689154.450093, 7.334000]: Could not get robot pose
[WARN] [1697689154.494188, 7.367000]: Could not get robot pose
[WARN] [1697689154.554849, 7.400000]: Could not get robot pose
[WARN] [1697689154.591113, 7.434000]: Could not get robot pose
[WARN] [1697689154.653064, 7.467000]: Could not get robot pose
[WARN] [1697689154.718272, 7.500000]: Could not get robot pose
[WARN] [1697689154.761536, 7.534000]: Could not get robot pose
[WARN] [1697689154.811001, 7.567000]: Could not get robot pose
[WARN] [1697689154.867848, 7.600000]: Could not get robot pose
[WARN] [1697689154.906273, 7.634000]: Could not get robot pose
[WARN] [1697689154.966188, 7.667000]: Could not get robot pose
[WARN] [1697689155.027196, 7.700000]: Could not get robot pose
[WARN] [1697689155.070271, 7.734000]: Could not get robot pose
[WARN] [1697689155.131809, 7.767000]: Could not get robot pose
[WARN] [1697689155.184254, 7.800000]: Could not get robot pose
[WARN] [1697689155.231026, 7.834000]: Could not get robot pose
[WARN] [1697689155.276285, 7.867000]: Could not get robot pose
[WARN] [1697689155.334278, 7.900000]: Could not get robot pose
[WARN] [1697689155.382678, 7.934000]: Could not get robot pose
[WARN] [1697689155.431748, 7.967000]: Could not get robot pose
[WARN] [1697689155.487124, 8.000000]: Could not get robot pose
[WARN] [1697689155.537148, 8.034000]: Could not get robot pose
[WARN] [1697689155.593215, 8.067000]: Could not get robot pose
[WARN] [1697689155.652889, 8.100000]: Could not get robot pose
[WARN] [1697689155.697951, 8.134000]: Could not get robot pose
[WARN] [1697689155.746510, 8.167000]: Could not get robot pose
[WARN] [1697689155.800448, 8.200000]: Could not get robot pose
[WARN] [1697689155.845906, 8.234000]: Could not get robot pose
[WARN] [1697689155.893872, 8.267000]: Could not get robot pose
[WARN] [1697689155.954676, 8.300000]: Could not get robot pose
[WARN] [1697689156.003190, 8.334000]: Could not get robot pose
[WARN] [1697689156.048845, 8.367000]: Could not get robot pose
[WARN] [1697689156.100973, 8.400000]: Could not get robot pose
[WARN] [1697689156.153079, 8.434000]: Could not get robot pose
[WARN] [1697689156.198411, 8.467000]: Could not get robot pose
[WARN] [1697689156.263270, 8.500000]: Could not get robot pose
[WARN] [1697689156.314211, 8.534000]: Could not get robot pose
[WARN] [1697689156.358672, 8.567000]: Could not get robot pose
[WARN] [1697689156.411651, 8.600000]: Could not get robot pose
[WARN] [1697689156.460189, 8.634000]: Could not get robot pose
[WARN] [1697689156.517687, 8.667000]: Could not get robot pose
[WARN] [1697689156.572051, 8.700000]: Could not get robot pose
[WARN] [1697689156.616528, 8.734000]: Could not get robot pose
[WARN] [1697689156.673867, 8.767000]: Could not get robot pose
[WARN] [1697689156.725581, 8.800000]: Could not get robot pose
[WARN] [1697689156.761053, 8.834000]: Could not get robot pose
[WARN] [1697689156.825459, 8.867000]: Could not get robot pose
[WARN] [1697689156.901401, 8.900000]: Could not get robot pose
[WARN] [1697689156.946980, 8.934000]: Could not get robot pose
[WARN] [1697689156.991119, 8.967000]: Could not get robot pose
[WARN] [1697689157.057549, 9.000000]: Could not get robot pose
[WARN] [1697689157.102317, 9.034000]: Could not get robot pose
[WARN] [1697689157.165822, 9.067000]: Could not get robot pose
[WARN] [1697689157.216828, 9.100000]: Could not get robot pose
[WARN] [1697689157.261086, 9.134000]: Could not get robot pose
[WARN] [1697689157.356271, 9.167000]: Could not get robot pose
[WARN] [1697689157.415795, 9.200000]: Could not get robot pose
[WARN] [1697689157.464036, 9.234000]: Could not get robot pose
[WARN] [1697689157.513599, 9.267000]: Could not get robot pose
[WARN] [1697689157.569605, 9.300000]: Could not get robot pose
[WARN] [1697689157.620341, 9.334000]: Could not get robot pose
[WARN] [1697689157.690438, 9.367000]: Could not get robot pose
[WARN] [1697689157.741765, 9.400000]: Could not get robot pose
^C[WARN] [1697689157.791429, 9.434000]: Could not get robot pose
[WARN] [1697689157.838802, 9.467000]: Could not get robot pose
[rviz-26] killing on exit
[mix_cmd_vel-25] killing on exit
[drl_vo_cmd-24] killing on exit
[teleop_velocity_smoother-23] killing on exit
[goal_visualize-22] killing on exit
[track_ped_pub-21] killing on exit
[robot_pose_pub-20] killing on exit
[cnn_data_pub-19] killing on exit
[pure_pursuit-18] killing on exit
[move_base-17] killing on exit
^C[kobuki_safety_controller-16] killing on exit
^C[navigation_velocity_smoother-15] killing on exit
^C[amcl-14] killing on exit
[map_server-13] killing on exit
[pedsim_visualizer-12] killing on exit
[pedsim_simulator-11] killing on exit
[robot_state_publisher-10] killing on exit
[bumper2pointcloud-9] killing on exit
[cmd_vel_mux-8] killing on exit
[mobile_base_nodelet_manager-7] killing on exit
^C[gazebo_map_broadcaster-5] killing on exit
[gazebo_gui-3] killing on exit
[gazebo-2] killing on exit
terminate called without an active exception
Aborted (core dumped)
^C^C^C^C^C^C^C^C^C^C^C^C^C^C^C[gazebo_gui-3] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

list of nodes running:

/amcl
/bumper2pointcloud
/cmd_vel_mux
/cnn_data_pub
/drl_vo_cmd
/gazebo
/gazebo_gui
/gazebo_map_broadcaster
/goal_visualize
/kobuki_safety_controller
/map_server
/mix_cmd_vel
/mobile_base_nodelet_manager
/move_base
/navigation_velocity_smoother
/pedsim_simulator
/pedsim_visualizer
/pure_pursuit
/robot_pose_pub
/robot_state_publisher
/rosout
/rviz
/teleop_velocity_smoother
/track_ped_pub
caomuqing commented 8 months ago

Also, here is the tf tree obtained from rosrun rqt_tf_tree rqt_tf_tree frames

zzuxzt commented 8 months ago

Hi, do you install all packages in your computer instead of using singularity container? Seems that the main error is "Couldn't find the name of one of the wheel drop sensors in the model description", which is from the Turtlebot 2 Kobuki base simulation model. The URDF model definition in my packages should be right. Here are my suspections for this error:

  1. I suspect this error is caused by an incompatible Gazebo. What is your verison of Gazebo? Make sure that the version of Gazebo are compatible with ROS Noetic, which should be Gazebo V11.x (mine is V11.9.0).
  2. The Kobuki ros package was not installed sucessfully. Please refer to turtlebot2_noetic_packages to install it.
  3. If they do not work, can you help to check the default Turtlebot2 navigation demo with the following commands: 
    roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_gazebo amcl_demo.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch

    Please feel free to let me know more details.

caomuqing commented 8 months ago

Thanks for your hints. Indeed, the problem is caused by the error message "Couldn't find the name of one of the wheel drop sensors in the model description". What I do to resolve this is adding the following sensor setup in the in your file kobuki_gazebo.urdf.xacro. I believe this change is needed for all users who want to run it by self-installation of all packages, so i create a pull request. Now, the program can run successfully.

zzuxzt commented 8 months ago

Glad to hear you solved this problem. Thanks for your contribution and I will approve it. I just noticed that the kobuki URDF definition has been updated recently, and newer versions of ROS Noetic and its compatible Gazebo require updated URDF definitions.

tkddnjs98 commented 8 months ago

Can you tell me where should I reference the updated URDF definition?

This link? https://github.com/corot/kobuki/tree/thorp

zzuxzt commented 8 months ago

You can found it at kobuki_gazebo.urdf.xacro. Added wheel_drop_left/right contact sensors to the Kobuki. The original source is here.

tkddnjs98 commented 8 months ago

Thanks I really appreciate that :)

luyao2001 commented 2 months ago

Hi, do you install all packages in your computer instead of using singularity container? Seems that the main error is "Couldn't find the name of one of the wheel drop sensors in the model description", which is from the Turtlebot 2 Kobuki base simulation model. The URDF model definition in my packages should be right. Here are my suspections for this error:

  1. I suspect this error is caused by an incompatible Gazebo. What is your verison of Gazebo? Make sure that the version of Gazebo are compatible with ROS Noetic, which should be Gazebo V11.x (mine is V11.9.0).
  2. The Kobuki ros package was not installed sucessfully. Please refer to turtlebot2_noetic_packages to install it.
  3. If they do not work, can you help to check the default Turtlebot2 navigation demo with the following commands:
roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_gazebo amcl_demo.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch

Please feel free to let me know more details.

when run "roslaunch turtlebot_gazebo amcl_demo.launch", I meet error. process[map_server-1]: started with pid [548993] process[amcl-2]: started with pid [548994] process[navigation_velocity_smoother-3]: started with pid [548995] process[kobuki_safety_controller-4]: started with pid [549001] process[move_base-5]: started with pid [549008] [ WARN] [1713523088.757349302, 21.950000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 21.95 timeout was 0.1. [ WARN] [1713523089.936819003, 23.130000000]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided [ WARN] [1713523089.936994484, 23.130000000]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided [ INFO] [1713523089.937349871, 23.130000000]: global_costmap: Using plugin "static_layer" [ INFO] [1713523089.940821446, 23.130000000]: Requesting the map... [ INFO] [1713523090.136172891, 23.330000000]: Resizing costmap to 231 X 194 at 0.050000 m/pix [ INFO] [1713523090.237037055, 23.430000000]: Received a 231 X 194 map at 0.050000 m/pix [ INFO] [1713523090.238647450, 23.430000000]: global_costmap: Using plugin "obstacle_layer" /opt/ros/noetic/lib/move_base/move_base: symbol lookup error: /opt/ros/noetic/lib/liblayers.so: undefined symbol: _ZN10voxel_grid9VoxelGridC1Ejjj [move_base-5] process has died [pid 549008, exit code 127, cmd /opt/ros/noetic/lib/move_base/move_base cmd_vel:=navigation_velocity_smoother/raw_cmd_vel odom:=odom scan:=scan __name:=move_base __log:=/home/robot/.ros/log/da45967c-fe38-11ee-92c5-3102a54b67ec/move_base-5.log]. log file: /home/robot/.ros/log/da45967c-fe38-11ee-92c5-3102a54b67ec/move_base-5*.log