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chvmp / champ

MIT Cheetah I Implementation
BSD 3-Clause "New" or "Revised" License
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Spot 2D Nav Goal not working in AWS Robomaker #69

Open JAYapeter opened 2 years ago

JAYapeter commented 2 years ago

Hi! I'm running a Robomaker simulation using the the Champ package with Spot. When I try to run "roslaunch spot_config navigate.launch", I get this error "[ WARN] [1632765900.092520249, 74.976000000]: 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." When I try using the 2D Nav Goal function in rviz, nothing happens. It seems like it's missing transforms between the map and the body. What can I do to fix this?

JAYapeter commented 2 years ago

In rviz, if I set the fixed frame to "body", I get an error saying there is no transform from map to body. image

And if I set the fixed frame to "map", I get errors saying there is no transform from each part of the body to map, and LaserScan also throws an error. image

grassjelly commented 2 years ago

do you have gmapping installed/running in the background?? https://github.com/chvmp/champ#11-clone-and-install-all-dependencies

JAYapeter commented 2 years ago

I used to command "sudo apt-get install ros-melodic-openslam-gmapping" to double check that I do have gmapping installed. I still have the same issues when I run my simulation. How can I double check to make sure gmapping is running when my simulation is running? Thanks!