雷达数据和坐标系转换

[t1tqq]

这个问题怎么解决 [ WARN] [1721482204.267190101, 30.213000000]: No laser scan received (and thus no pose updates have been published) for 30.213000 seconds. Verify that data is being published on the /scan topic. [ WARN] [1721482204.618012560, 30.563000000]: 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.

[ai-winter]

@t1tqq

Please check the tf-tree and ensure that AMCL operates normally.

[Feijiake]

我也有着相同的问题, 部分报错如下 INFO] [1722959610.046458887]: Finished loading Gazebo ROS API Plugin. [ INFO] [1722959610.047860462]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1722959610.092984477]: Finished loading Gazebo ROS API Plugin. [ INFO] [1722959610.094289832]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ INFO] [1722959610.446012440]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1722959610.462676645, 0.003000000]: Physics dynamic reconfigure ready. [ WARN] [1722959615.533828504, 5.048000000]: 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] [1722959620.555824886, 10.061000000]: 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] [1722959625.572884858, 15.078000000]: 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] [1722959625.825649978, 15.332000000]: No laser scan received (and thus no pose updates have been published) for 15.332000 seconds. Verify that data is being published on the /scan topic. [ WARN] [1722959630.590064441, 20.091000000]: Timed out waiting for transform from base_footprint to map to become available before r

检查节点后 (base) qing@Qing:~$ rosnode list /amcl /gazebo /gazebo_gui /map_server /move_base /robot_state_publisher /rosout /rviz /tf_echo_1722959802789771374 (base) qing@Qing:~$ rostopic echo /scan WARNING: no messages received and simulated time is active. Is /clock being published?

@t1tqq

Please check the tf-tree and ensure that AMCL operates normally.

TF变换: rosrun tf view_frames /opt/ros/noetic/lib/tf/view_frames:43: DeprecationWarning: The distutils package is deprecated and slated for removal in Python 3.12. Use setuptools or check PEP 632 for potential alternatives import distutils.version

并且我的RVIZ 的gloab status和robortmodel为err

[ZhanyuGuo]

@t1tqq @Feijiake Hi! Can you provide more information such as commands, configuration (i.e., user_config.yaml), and we'll try to reproduce the issue.

[YsqRos]

同样的问题