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open-rmf / free_fleet

A free fleet management system.
Apache License 2.0
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Multi Turtlebot3 Simulation error #60

Closed otomoov closed 3 years ago

otomoov commented 3 years ago 
[ WARN] [1606706810.527861522, 5.085000000]: Timed out waiting for transform from tb3_0/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] [1606706810.530239571, 5.088000000]: Timed out waiting for transform from tb3_1/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] [1606706810.532104488, 5.090000000]: Timed out waiting for transform from tb3_2/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101 timeout was 0.1.
[ WARN] [1606706815.559972618, 10.091000000]: Timed out waiting for transform from tb3_0/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] [1606706815.566345546, 10.097000000]: Timed out waiting for transform from tb3_1/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] [1606706815.566663835, 10.098000000]: Timed out waiting for transform from tb3_2/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.
[ERROR] [1606706815.662991978, 10.193000000]: timed out waiting for action server: tb3_0/move_base
[ERROR] [1606706815.664283608, 10.195000000]: timed out waiting for action server: tb3_2/move_base
[ERROR] [1606706815.667046855, 10.197000000]: timed out waiting for action server: tb3_1/move_base
[ERROR] [1606706815.681482736, 10.212000000]: free_fleet_client_ros1: unable to initialize.
[tb3_2_free_fleet_client_node-19] process has died [pid 12208, exit code 1, cmd /home/oto/client_ws/install/free_fleet_client_ros1/lib/free_fleet_client_ros1/free_fleet_client_ros1 __name:=tb3_2_free_fleet_client_node __log:=/home/oto/.ros/log/dd19bc8a-32bb-11eb-a603-81ac4c0d4f1c/tb3_2_free_fleet_client_node-19.log].
log file: /home/oto/.ros/log/dd19bc8a-32bb-11eb-a603-81ac4c0d4f1c/tb3_2_free_fleet_client_node-19*.log
[ERROR] [1606706815.738687614, 10.269000000]: free_fleet_client_ros1: unable to initialize.
[ERROR] [1606706815.749154487, 10.279000000]: free_fleet_client_ros1: unable to initialize.
[tb3_0_free_fleet_client_node-17] process has died [pid 12195, exit code 1, cmd /home/oto/client_ws/install/free_fleet_client_ros1/lib/free_fleet_client_ros1/free_fleet_client_ros1 __name:=tb3_0_free_fleet_client_node __log:=/home/oto/.ros/log/dd19bc8a-32bb-11eb-a603-81ac4c0d4f1c/tb3_0_free_fleet_client_node-17.log].
log file: /home/oto/.ros/log/dd19bc8a-32bb-11eb-a603-81ac4c0d4f1c/tb3_0_free_fleet_client_node-17*.log
[tb3_1_free_fleet_client_node-18] process has died [pid 12204, exit code 1, cmd /home/oto/client_ws/install/free_fleet_client_ros1/lib/free_fleet_client_ros1/free_fleet_client_ros1 __name:=tb3_1_free_fleet_client_node __log:=/home/oto/.ros/log/dd19bc8a-32bb-11eb-a603-81ac4c0d4f1c/tb3_1_free_fleet_client_node-18.log].
log file: /home/oto/.ros/log/dd19bc8a-32bb-11eb-a603-81ac4c0d4f1c/tb3_1_free_fleet_client_node-18*.log
aaronchongth commented 3 years ago

It looks like the target frames are not getting supplied. Could you post your rqt_tf_tree graph to verify?

I believe these issues arise from the fact that support for tf_prefix was dropped in noetic therefore, the simulation demos from turtlebot3_gazebo will not work as before. I have tested and got the demos working per normal by using these branches,

otomoov commented 3 years ago

rqt_tf_tree

aaronchongth commented 3 years ago

Hello there @otomoov! Yes this is as I suspected, the errors you are getting as well as any additional warnings regarding tf, is related due to the issue mentioned above. For now, you can work with the above listed PR branches.

otomoov commented 3 years ago 
oto@moov:~$ export TURTLEBOT3_MODEL=burger; roslaunch ff_examples_ros1 multi_turtlebot3_ff.launch
... logging to /home/oto/.ros/log/8fd41d2a-3451-11eb-8091-4f557f9b1134/roslaunch-moov-216275.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://moov:39381/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /map_server/frame_id: map
 * /rosdistro: noetic
 * /rosversion: 1.15.9
 * /tb3_0/amcl/base_frame_id: tb3_0/base_footprint
 * /tb3_0/amcl/global_frame_id: map
 * /tb3_0/amcl/gui_publish_rate: 50.0
 * /tb3_0/amcl/initial_pose_a: 1.57
 * /tb3_0/amcl/initial_pose_x: -6.58309602737
 * /tb3_0/amcl/initial_pose_y: -0.598859667778
 * /tb3_0/amcl/kld_err: 0.02
 * /tb3_0/amcl/laser_lambda_short: 0.1
 * /tb3_0/amcl/laser_likelihood_max_dist: 2.0
 * /tb3_0/amcl/laser_max_beams: 180
 * /tb3_0/amcl/laser_max_range: 3.5
 * /tb3_0/amcl/laser_model_type: likelihood_field
 * /tb3_0/amcl/laser_sigma_hit: 0.2
 * /tb3_0/amcl/laser_z_hit: 0.5
 * /tb3_0/amcl/laser_z_max: 0.05
 * /tb3_0/amcl/laser_z_rand: 0.5
 * /tb3_0/amcl/laser_z_short: 0.05
 * /tb3_0/amcl/max_particles: 3000
 * /tb3_0/amcl/min_particles: 500
 * /tb3_0/amcl/odom_alpha1: 0.1
 * /tb3_0/amcl/odom_alpha2: 0.1
 * /tb3_0/amcl/odom_alpha3: 0.1
 * /tb3_0/amcl/odom_alpha4: 0.1
 * /tb3_0/amcl/odom_frame_id: tb3_0/odom
 * /tb3_0/amcl/odom_model_type: diff
 * /tb3_0/amcl/recovery_alpha_fast: 0.0
 * /tb3_0/amcl/recovery_alpha_slow: 0.0
 * /tb3_0/amcl/resample_interval: 1
 * /tb3_0/amcl/transform_tolerance: 0.5
 * /tb3_0/amcl/update_min_a: 0.2
 * /tb3_0/amcl/update_min_d: 0.2
 * /tb3_0/move_base/DWAPlannerROS/acc_lim_theta: 3.2
 * /tb3_0/move_base/DWAPlannerROS/acc_lim_x: 2.5
 * /tb3_0/move_base/DWAPlannerROS/acc_lim_y: 0.0
 * /tb3_0/move_base/DWAPlannerROS/controller_frequency: 10.0
 * /tb3_0/move_base/DWAPlannerROS/forward_point_distance: 0.325
 * /tb3_0/move_base/DWAPlannerROS/goal_distance_bias: 20.0
 * /tb3_0/move_base/DWAPlannerROS/latch_xy_goal_tolerance: False
 * /tb3_0/move_base/DWAPlannerROS/max_scaling_factor: 0.2
 * /tb3_0/move_base/DWAPlannerROS/max_vel_theta: 2.75
 * /tb3_0/move_base/DWAPlannerROS/max_vel_trans: 0.22
 * /tb3_0/move_base/DWAPlannerROS/max_vel_x: 0.22
 * /tb3_0/move_base/DWAPlannerROS/max_vel_y: 0.0
 * /tb3_0/move_base/DWAPlannerROS/min_vel_theta: 1.37
 * /tb3_0/move_base/DWAPlannerROS/min_vel_trans: 0.11
 * /tb3_0/move_base/DWAPlannerROS/min_vel_x: -0.22
 * /tb3_0/move_base/DWAPlannerROS/min_vel_y: 0.0
 * /tb3_0/move_base/DWAPlannerROS/occdist_scale: 0.02
 * /tb3_0/move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
 * /tb3_0/move_base/DWAPlannerROS/path_distance_bias: 32.0
 * /tb3_0/move_base/DWAPlannerROS/publish_cost_grid_pc: True
 * /tb3_0/move_base/DWAPlannerROS/publish_traj_pc: True
 * /tb3_0/move_base/DWAPlannerROS/scaling_speed: 0.25
 * /tb3_0/move_base/DWAPlannerROS/sim_time: 1.5
 * /tb3_0/move_base/DWAPlannerROS/stop_time_buffer: 0.2
 * /tb3_0/move_base/DWAPlannerROS/vth_samples: 40
 * /tb3_0/move_base/DWAPlannerROS/vx_samples: 20
 * /tb3_0/move_base/DWAPlannerROS/vy_samples: 0
 * /tb3_0/move_base/DWAPlannerROS/xy_goal_tolerance: 0.05
 * /tb3_0/move_base/DWAPlannerROS/yaw_goal_tolerance: 0.17
 * /tb3_0/move_base/base_local_planner: dwa_local_planner...
 * /tb3_0/move_base/conservative_reset_dist: 3.0
 * /tb3_0/move_base/controller_frequency: 10.0
 * /tb3_0/move_base/controller_patience: 15.0
 * /tb3_0/move_base/global_costmap/cost_scaling_factor: 3.0
 * /tb3_0/move_base/global_costmap/footprint: [[-0.105, -0.105]...
 * /tb3_0/move_base/global_costmap/global_frame: map
 * /tb3_0/move_base/global_costmap/inflation_radius: 1.0
 * /tb3_0/move_base/global_costmap/map_type: costmap
 * /tb3_0/move_base/global_costmap/observation_sources: scan
 * /tb3_0/move_base/global_costmap/obstacle_range: 3.0
 * /tb3_0/move_base/global_costmap/publish_frequency: 10.0
 * /tb3_0/move_base/global_costmap/raytrace_range: 3.5
 * /tb3_0/move_base/global_costmap/robot_base_frame: tb3_0/base_footprint
 * /tb3_0/move_base/global_costmap/scan/clearing: True
 * /tb3_0/move_base/global_costmap/scan/data_type: LaserScan
 * /tb3_0/move_base/global_costmap/scan/marking: True
 * /tb3_0/move_base/global_costmap/scan/sensor_frame: tb3_0/base_scan
 * /tb3_0/move_base/global_costmap/scan/topic: scan
 * /tb3_0/move_base/global_costmap/static_map: True
 * /tb3_0/move_base/global_costmap/transform_tolerance: 0.5
 * /tb3_0/move_base/global_costmap/update_frequency: 10.0
 * /tb3_0/move_base/local_costmap/cost_scaling_factor: 3.0
 * /tb3_0/move_base/local_costmap/footprint: [[-0.105, -0.105]...
 * /tb3_0/move_base/local_costmap/global_frame: tb3_0/odom
 * /tb3_0/move_base/local_costmap/height: 3
 * /tb3_0/move_base/local_costmap/inflation_radius: 1.0
 * /tb3_0/move_base/local_costmap/map_type: costmap
 * /tb3_0/move_base/local_costmap/observation_sources: scan
 * /tb3_0/move_base/local_costmap/obstacle_range: 3.0
 * /tb3_0/move_base/local_costmap/publish_frequency: 10.0
 * /tb3_0/move_base/local_costmap/raytrace_range: 3.5
 * /tb3_0/move_base/local_costmap/resolution: 0.05
 * /tb3_0/move_base/local_costmap/robot_base_frame: tb3_0/base_footprint
 * /tb3_0/move_base/local_costmap/rolling_window: True
 * /tb3_0/move_base/local_costmap/scan/clearing: True
 * /tb3_0/move_base/local_costmap/scan/data_type: LaserScan
 * /tb3_0/move_base/local_costmap/scan/marking: True
 * /tb3_0/move_base/local_costmap/scan/sensor_frame: tb3_0/base_scan
 * /tb3_0/move_base/local_costmap/scan/topic: scan
 * /tb3_0/move_base/local_costmap/static_map: False
 * /tb3_0/move_base/local_costmap/transform_tolerance: 0.5
 * /tb3_0/move_base/local_costmap/update_frequency: 10.0
 * /tb3_0/move_base/local_costmap/width: 3
 * /tb3_0/move_base/oscillation_distance: 0.2
 * /tb3_0/move_base/oscillation_timeout: 10.0
 * /tb3_0/move_base/planner_frequency: 5.0
 * /tb3_0/move_base/planner_patience: 5.0
 * /tb3_0/move_base/shutdown_costmaps: False
 * /tb3_0/robot_description: <?xml version="1....
 * /tb3_0/robot_state_publisher/publish_frequency: 50.0
 * /tb3_0/robot_state_publisher/tf_prefix: tb3_0
 * /tb3_0_free_fleet_client_node/battery_state_topic: tb3_0/battery_state
 * /tb3_0_free_fleet_client_node/dds_domain: 42
 * /tb3_0_free_fleet_client_node/fleet_name: turtlebot3
 * /tb3_0_free_fleet_client_node/max_dist_to_first_waypoint: 10.0
 * /tb3_0_free_fleet_client_node/move_base_server_name: tb3_0/move_base
 * /tb3_0_free_fleet_client_node/robot_frame: tb3_0/base_footprint
 * /tb3_0_free_fleet_client_node/robot_name: tb3_0
 * /tb3_1/amcl/base_frame_id: tb3_1/base_footprint
 * /tb3_1/amcl/global_frame_id: map
 * /tb3_1/amcl/gui_publish_rate: 50.0
 * /tb3_1/amcl/initial_pose_a: 1.57
 * /tb3_1/amcl/initial_pose_x: 6.72441768646
 * /tb3_1/amcl/initial_pose_y: -1.08069348335
 * /tb3_1/amcl/kld_err: 0.02
 * /tb3_1/amcl/laser_lambda_short: 0.1
 * /tb3_1/amcl/laser_likelihood_max_dist: 2.0
 * /tb3_1/amcl/laser_max_beams: 180
 * /tb3_1/amcl/laser_max_range: 3.5
 * /tb3_1/amcl/laser_model_type: likelihood_field
 * /tb3_1/amcl/laser_sigma_hit: 0.2
 * /tb3_1/amcl/laser_z_hit: 0.5
 * /tb3_1/amcl/laser_z_max: 0.05
 * /tb3_1/amcl/laser_z_rand: 0.5
 * /tb3_1/amcl/laser_z_short: 0.05
 * /tb3_1/amcl/max_particles: 3000
 * /tb3_1/amcl/min_particles: 500
 * /tb3_1/amcl/odom_alpha1: 0.1
 * /tb3_1/amcl/odom_alpha2: 0.1
 * /tb3_1/amcl/odom_alpha3: 0.1
 * /tb3_1/amcl/odom_alpha4: 0.1
 * /tb3_1/amcl/odom_frame_id: tb3_1/odom
 * /tb3_1/amcl/odom_model_type: diff
 * /tb3_1/amcl/recovery_alpha_fast: 0.0
 * /tb3_1/amcl/recovery_alpha_slow: 0.0
 * /tb3_1/amcl/resample_interval: 1
 * /tb3_1/amcl/transform_tolerance: 0.5
 * /tb3_1/amcl/update_min_a: 0.2
 * /tb3_1/amcl/update_min_d: 0.2
 * /tb3_1/move_base/DWAPlannerROS/acc_lim_theta: 3.2
 * /tb3_1/move_base/DWAPlannerROS/acc_lim_x: 2.5
 * /tb3_1/move_base/DWAPlannerROS/acc_lim_y: 0.0
 * /tb3_1/move_base/DWAPlannerROS/controller_frequency: 10.0
 * /tb3_1/move_base/DWAPlannerROS/forward_point_distance: 0.325
 * /tb3_1/move_base/DWAPlannerROS/goal_distance_bias: 20.0
 * /tb3_1/move_base/DWAPlannerROS/latch_xy_goal_tolerance: False
 * /tb3_1/move_base/DWAPlannerROS/max_scaling_factor: 0.2
 * /tb3_1/move_base/DWAPlannerROS/max_vel_theta: 2.75
 * /tb3_1/move_base/DWAPlannerROS/max_vel_trans: 0.22
 * /tb3_1/move_base/DWAPlannerROS/max_vel_x: 0.22
 * /tb3_1/move_base/DWAPlannerROS/max_vel_y: 0.0
 * /tb3_1/move_base/DWAPlannerROS/min_vel_theta: 1.37
 * /tb3_1/move_base/DWAPlannerROS/min_vel_trans: 0.11
 * /tb3_1/move_base/DWAPlannerROS/min_vel_x: -0.22
 * /tb3_1/move_base/DWAPlannerROS/min_vel_y: 0.0
 * /tb3_1/move_base/DWAPlannerROS/occdist_scale: 0.02
 * /tb3_1/move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
 * /tb3_1/move_base/DWAPlannerROS/path_distance_bias: 32.0
 * /tb3_1/move_base/DWAPlannerROS/publish_cost_grid_pc: True
 * /tb3_1/move_base/DWAPlannerROS/publish_traj_pc: True
 * /tb3_1/move_base/DWAPlannerROS/scaling_speed: 0.25
 * /tb3_1/move_base/DWAPlannerROS/sim_time: 1.5
 * /tb3_1/move_base/DWAPlannerROS/stop_time_buffer: 0.2
 * /tb3_1/move_base/DWAPlannerROS/vth_samples: 40
 * /tb3_1/move_base/DWAPlannerROS/vx_samples: 20
 * /tb3_1/move_base/DWAPlannerROS/vy_samples: 0
 * /tb3_1/move_base/DWAPlannerROS/xy_goal_tolerance: 0.05
 * /tb3_1/move_base/DWAPlannerROS/yaw_goal_tolerance: 0.17
 * /tb3_1/move_base/base_local_planner: dwa_local_planner...
 * /tb3_1/move_base/conservative_reset_dist: 3.0
 * /tb3_1/move_base/controller_frequency: 10.0
 * /tb3_1/move_base/controller_patience: 15.0
 * /tb3_1/move_base/global_costmap/cost_scaling_factor: 3.0
 * /tb3_1/move_base/global_costmap/footprint: [[-0.105, -0.105]...
 * /tb3_1/move_base/global_costmap/global_frame: map
 * /tb3_1/move_base/global_costmap/inflation_radius: 1.0
 * /tb3_1/move_base/global_costmap/map_type: costmap
 * /tb3_1/move_base/global_costmap/observation_sources: scan
 * /tb3_1/move_base/global_costmap/obstacle_range: 3.0
 * /tb3_1/move_base/global_costmap/publish_frequency: 10.0
 * /tb3_1/move_base/global_costmap/raytrace_range: 3.5
 * /tb3_1/move_base/global_costmap/robot_base_frame: tb3_1/base_footprint
 * /tb3_1/move_base/global_costmap/scan/clearing: True
 * /tb3_1/move_base/global_costmap/scan/data_type: LaserScan
 * /tb3_1/move_base/global_costmap/scan/marking: True
 * /tb3_1/move_base/global_costmap/scan/sensor_frame: tb3_1/base_scan
 * /tb3_1/move_base/global_costmap/scan/topic: scan
 * /tb3_1/move_base/global_costmap/static_map: True
 * /tb3_1/move_base/global_costmap/transform_tolerance: 0.5
 * /tb3_1/move_base/global_costmap/update_frequency: 10.0
 * /tb3_1/move_base/local_costmap/cost_scaling_factor: 3.0
 * /tb3_1/move_base/local_costmap/footprint: [[-0.105, -0.105]...
 * /tb3_1/move_base/local_costmap/global_frame: tb3_1/odom
 * /tb3_1/move_base/local_costmap/height: 3
 * /tb3_1/move_base/local_costmap/inflation_radius: 1.0
 * /tb3_1/move_base/local_costmap/map_type: costmap
 * /tb3_1/move_base/local_costmap/observation_sources: scan
 * /tb3_1/move_base/local_costmap/obstacle_range: 3.0
 * /tb3_1/move_base/local_costmap/publish_frequency: 10.0
 * /tb3_1/move_base/local_costmap/raytrace_range: 3.5
 * /tb3_1/move_base/local_costmap/resolution: 0.05
 * /tb3_1/move_base/local_costmap/robot_base_frame: tb3_1/base_footprint
 * /tb3_1/move_base/local_costmap/rolling_window: True
 * /tb3_1/move_base/local_costmap/scan/clearing: True
 * /tb3_1/move_base/local_costmap/scan/data_type: LaserScan
 * /tb3_1/move_base/local_costmap/scan/marking: True
 * /tb3_1/move_base/local_costmap/scan/sensor_frame: tb3_1/base_scan
 * /tb3_1/move_base/local_costmap/scan/topic: scan
 * /tb3_1/move_base/local_costmap/static_map: False
 * /tb3_1/move_base/local_costmap/transform_tolerance: 0.5
 * /tb3_1/move_base/local_costmap/update_frequency: 10.0
 * /tb3_1/move_base/local_costmap/width: 3
 * /tb3_1/move_base/oscillation_distance: 0.2
 * /tb3_1/move_base/oscillation_timeout: 10.0
 * /tb3_1/move_base/planner_frequency: 5.0
 * /tb3_1/move_base/planner_patience: 5.0
 * /tb3_1/move_base/shutdown_costmaps: False
 * /tb3_1/robot_description: <?xml version="1....
 * /tb3_1/robot_state_publisher/publish_frequency: 50.0
 * /tb3_1/robot_state_publisher/tf_prefix: tb3_1
 * /tb3_1_free_fleet_client_node/battery_state_topic: tb3_1/battery_state
 * /tb3_1_free_fleet_client_node/dds_domain: 42
 * /tb3_1_free_fleet_client_node/fleet_name: turtlebot3
 * /tb3_1_free_fleet_client_node/max_dist_to_first_waypoint: 10.0
 * /tb3_1_free_fleet_client_node/move_base_server_name: tb3_1/move_base
 * /tb3_1_free_fleet_client_node/robot_frame: tb3_1/base_footprint
 * /tb3_1_free_fleet_client_node/robot_name: tb3_1
 * /tb3_2/amcl/base_frame_id: tb3_2/base_footprint
 * /tb3_2/amcl/global_frame_id: map
 * /tb3_2/amcl/gui_publish_rate: 50.0
 * /tb3_2/amcl/initial_pose_a: 0.0
 * /tb3_2/amcl/initial_pose_x: 0.30019775033
 * /tb3_2/amcl/initial_pose_y: 2.9819111824
 * /tb3_2/amcl/kld_err: 0.02
 * /tb3_2/amcl/laser_lambda_short: 0.1
 * /tb3_2/amcl/laser_likelihood_max_dist: 2.0
 * /tb3_2/amcl/laser_max_beams: 180
 * /tb3_2/amcl/laser_max_range: 3.5
 * /tb3_2/amcl/laser_model_type: likelihood_field
 * /tb3_2/amcl/laser_sigma_hit: 0.2
 * /tb3_2/amcl/laser_z_hit: 0.5
 * /tb3_2/amcl/laser_z_max: 0.05
 * /tb3_2/amcl/laser_z_rand: 0.5
 * /tb3_2/amcl/laser_z_short: 0.05
 * /tb3_2/amcl/max_particles: 3000
 * /tb3_2/amcl/min_particles: 500
 * /tb3_2/amcl/odom_alpha1: 0.1
 * /tb3_2/amcl/odom_alpha2: 0.1
 * /tb3_2/amcl/odom_alpha3: 0.1
 * /tb3_2/amcl/odom_alpha4: 0.1
 * /tb3_2/amcl/odom_frame_id: tb3_2/odom
 * /tb3_2/amcl/odom_model_type: diff
 * /tb3_2/amcl/recovery_alpha_fast: 0.0
 * /tb3_2/amcl/recovery_alpha_slow: 0.0
 * /tb3_2/amcl/resample_interval: 1
 * /tb3_2/amcl/transform_tolerance: 0.5
 * /tb3_2/amcl/update_min_a: 0.2
 * /tb3_2/amcl/update_min_d: 0.2
 * /tb3_2/move_base/DWAPlannerROS/acc_lim_theta: 3.2
 * /tb3_2/move_base/DWAPlannerROS/acc_lim_x: 2.5
 * /tb3_2/move_base/DWAPlannerROS/acc_lim_y: 0.0
 * /tb3_2/move_base/DWAPlannerROS/controller_frequency: 10.0
 * /tb3_2/move_base/DWAPlannerROS/forward_point_distance: 0.325
 * /tb3_2/move_base/DWAPlannerROS/goal_distance_bias: 20.0
 * /tb3_2/move_base/DWAPlannerROS/latch_xy_goal_tolerance: False
 * /tb3_2/move_base/DWAPlannerROS/max_scaling_factor: 0.2
 * /tb3_2/move_base/DWAPlannerROS/max_vel_theta: 2.75
 * /tb3_2/move_base/DWAPlannerROS/max_vel_trans: 0.22
 * /tb3_2/move_base/DWAPlannerROS/max_vel_x: 0.22
 * /tb3_2/move_base/DWAPlannerROS/max_vel_y: 0.0
 * /tb3_2/move_base/DWAPlannerROS/min_vel_theta: 1.37
 * /tb3_2/move_base/DWAPlannerROS/min_vel_trans: 0.11
 * /tb3_2/move_base/DWAPlannerROS/min_vel_x: -0.22
 * /tb3_2/move_base/DWAPlannerROS/min_vel_y: 0.0
 * /tb3_2/move_base/DWAPlannerROS/occdist_scale: 0.02
 * /tb3_2/move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
 * /tb3_2/move_base/DWAPlannerROS/path_distance_bias: 32.0
 * /tb3_2/move_base/DWAPlannerROS/publish_cost_grid_pc: True
 * /tb3_2/move_base/DWAPlannerROS/publish_traj_pc: True
 * /tb3_2/move_base/DWAPlannerROS/scaling_speed: 0.25
 * /tb3_2/move_base/DWAPlannerROS/sim_time: 1.5
 * /tb3_2/move_base/DWAPlannerROS/stop_time_buffer: 0.2
 * /tb3_2/move_base/DWAPlannerROS/vth_samples: 40
 * /tb3_2/move_base/DWAPlannerROS/vx_samples: 20
 * /tb3_2/move_base/DWAPlannerROS/vy_samples: 0
 * /tb3_2/move_base/DWAPlannerROS/xy_goal_tolerance: 0.05
 * /tb3_2/move_base/DWAPlannerROS/yaw_goal_tolerance: 0.17
 * /tb3_2/move_base/base_local_planner: dwa_local_planner...
 * /tb3_2/move_base/conservative_reset_dist: 3.0
 * /tb3_2/move_base/controller_frequency: 10.0
 * /tb3_2/move_base/controller_patience: 15.0
 * /tb3_2/move_base/global_costmap/cost_scaling_factor: 3.0
 * /tb3_2/move_base/global_costmap/footprint: [[-0.105, -0.105]...
 * /tb3_2/move_base/global_costmap/global_frame: map
 * /tb3_2/move_base/global_costmap/inflation_radius: 1.0
 * /tb3_2/move_base/global_costmap/map_type: costmap
 * /tb3_2/move_base/global_costmap/observation_sources: scan
 * /tb3_2/move_base/global_costmap/obstacle_range: 3.0
 * /tb3_2/move_base/global_costmap/publish_frequency: 10.0
 * /tb3_2/move_base/global_costmap/raytrace_range: 3.5
 * /tb3_2/move_base/global_costmap/robot_base_frame: tb3_2/base_footprint
 * /tb3_2/move_base/global_costmap/scan/clearing: True
 * /tb3_2/move_base/global_costmap/scan/data_type: LaserScan
 * /tb3_2/move_base/global_costmap/scan/marking: True
 * /tb3_2/move_base/global_costmap/scan/sensor_frame: tb3_2/base_scan
 * /tb3_2/move_base/global_costmap/scan/topic: scan
 * /tb3_2/move_base/global_costmap/static_map: True
 * /tb3_2/move_base/global_costmap/transform_tolerance: 0.5
 * /tb3_2/move_base/global_costmap/update_frequency: 10.0
 * /tb3_2/move_base/local_costmap/cost_scaling_factor: 3.0
 * /tb3_2/move_base/local_costmap/footprint: [[-0.105, -0.105]...
 * /tb3_2/move_base/local_costmap/global_frame: tb3_2/odom
 * /tb3_2/move_base/local_costmap/height: 3
 * /tb3_2/move_base/local_costmap/inflation_radius: 1.0
 * /tb3_2/move_base/local_costmap/map_type: costmap
 * /tb3_2/move_base/local_costmap/observation_sources: scan
 * /tb3_2/move_base/local_costmap/obstacle_range: 3.0
 * /tb3_2/move_base/local_costmap/publish_frequency: 10.0
 * /tb3_2/move_base/local_costmap/raytrace_range: 3.5
 * /tb3_2/move_base/local_costmap/resolution: 0.05
 * /tb3_2/move_base/local_costmap/robot_base_frame: tb3_2/base_footprint
 * /tb3_2/move_base/local_costmap/rolling_window: True
 * /tb3_2/move_base/local_costmap/scan/clearing: True
 * /tb3_2/move_base/local_costmap/scan/data_type: LaserScan
 * /tb3_2/move_base/local_costmap/scan/marking: True
 * /tb3_2/move_base/local_costmap/scan/sensor_frame: tb3_2/base_scan
 * /tb3_2/move_base/local_costmap/scan/topic: scan
 * /tb3_2/move_base/local_costmap/static_map: False
 * /tb3_2/move_base/local_costmap/transform_tolerance: 0.5
 * /tb3_2/move_base/local_costmap/update_frequency: 10.0
 * /tb3_2/move_base/local_costmap/width: 3
 * /tb3_2/move_base/oscillation_distance: 0.2
 * /tb3_2/move_base/oscillation_timeout: 10.0
 * /tb3_2/move_base/planner_frequency: 5.0
 * /tb3_2/move_base/planner_patience: 5.0
 * /tb3_2/move_base/shutdown_costmaps: False
 * /tb3_2/robot_description: <?xml version="1....
 * /tb3_2/robot_state_publisher/publish_frequency: 50.0
 * /tb3_2/robot_state_publisher/tf_prefix: tb3_2
 * /tb3_2_free_fleet_client_node/battery_state_topic: tb3_2/battery_state
 * /tb3_2_free_fleet_client_node/dds_domain: 42
 * /tb3_2_free_fleet_client_node/fleet_name: turtlebot3
 * /tb3_2_free_fleet_client_node/max_dist_to_first_waypoint: 10.0
 * /tb3_2_free_fleet_client_node/move_base_server_name: tb3_2/move_base
 * /tb3_2_free_fleet_client_node/robot_frame: tb3_2/base_footprint
 * /tb3_2_free_fleet_client_node/robot_name: tb3_2
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    map_server (map_server/map_server)
    rviz (rviz/rviz)
    tb3_0_free_fleet_client_node (free_fleet_client_ros1/free_fleet_client_ros1)
    tb3_1_free_fleet_client_node (free_fleet_client_ros1/free_fleet_client_ros1)
    tb3_2_free_fleet_client_node (free_fleet_client_ros1/free_fleet_client_ros1)
  /tb3_0/
    amcl (amcl/amcl)
    move_base (move_base/move_base)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_urdf (gazebo_ros/spawn_model)
  /tb3_1/
    amcl (amcl/amcl)
    move_base (move_base/move_base)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_urdf (gazebo_ros/spawn_model)
  /tb3_2/
    amcl (amcl/amcl)
    move_base (move_base/move_base)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_urdf (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [216289]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8fd41d2a-3451-11eb-8091-4f557f9b1134
process[rosout-1]: started with pid [216299]
started core service [/rosout]
process[gazebo-2]: started with pid [216306]
process[gazebo_gui-3]: started with pid [216311]
process[tb3_0/robot_state_publisher-4]: started with pid [216316]
process[tb3_0/spawn_urdf-5]: started with pid [216317]
process[tb3_1/robot_state_publisher-6]: started with pid [216318]
process[tb3_1/spawn_urdf-7]: started with pid [216320]
process[tb3_2/robot_state_publisher-8]: started with pid [216325]
process[tb3_2/spawn_urdf-9]: started with pid [216326]
process[map_server-10]: started with pid [216332]
process[tb3_0/amcl-11]: started with pid [216334]
process[tb3_0/move_base-12]: started with pid [216340]
process[tb3_1/amcl-13]: started with pid [216341]
process[tb3_1/move_base-14]: started with pid [216344]
process[tb3_2/amcl-15]: started with pid [216350]
process[tb3_2/move_base-16]: started with pid [216358]
process[tb3_0_free_fleet_client_node-17]: started with pid [216362]
process[tb3_1_free_fleet_client_node-18]: started with pid [216366]
process[tb3_2_free_fleet_client_node-19]: started with pid [216367]
process[rviz-20]: started with pid [216381]
[ INFO] [1606881048.804468010]: Greetings from free_fleet_client_ros1
[ INFO] [1606881048.822083400]: Found fleet_name on the parameter server. Setting fleet_name to turtlebot3
[ INFO] [1606881048.825130948]: Greetings from free_fleet_client_ros1
[ INFO] [1606881048.825440947]: Found robot_name on the parameter server. Setting robot_name to tb3_1
[ INFO] [1606881048.841020192]: Greetings from free_fleet_client_ros1
[ INFO] [1606881048.850646112]: Found fleet_name on the parameter server. Setting fleet_name to turtlebot3
[ INFO] [1606881048.853872203]: Found battery_state_topic on the parameter server. Setting battery_state_topic to tb3_1/battery_state
[ INFO] [1606881048.854713909]: Found robot_name on the parameter server. Setting robot_name to tb3_0
[ INFO] [1606881048.860976853]: Found battery_state_topic on the parameter server. Setting battery_state_topic to tb3_0/battery_state
[ INFO] [1606881048.866521646]: Found fleet_name on the parameter server. Setting fleet_name to turtlebot3
[ INFO] [1606881048.873874020]: Found robot_frame on the parameter server. Setting robot_frame to tb3_1/base_footprint
[ INFO] [1606881048.874460092]: Found move_base_server_name on the parameter server. Setting move_base_server_name to tb3_1/move_base
[ INFO] [1606881048.876269125]: Found robot_name on the parameter server. Setting robot_name to tb3_2
[ INFO] [1606881048.877097685]: Found dds_domain on the parameter server. Setting dds_domain to 42.
[ INFO] [1606881048.882324729]: Found robot_frame on the parameter server. Setting robot_frame to tb3_0/base_footprint
[ INFO] [1606881048.886743712]: Found battery_state_topic on the parameter server. Setting battery_state_topic to tb3_2/battery_state
[ INFO] [1606881048.887793791]: Found move_base_server_name on the parameter server. Setting move_base_server_name to tb3_0/move_base
[ INFO] [1606881048.890396762]: Found dds_domain on the parameter server. Setting dds_domain to 42.
[ INFO] [1606881048.894885567]: Found robot_frame on the parameter server. Setting robot_frame to tb3_2/base_footprint
[ INFO] [1606881048.897933976]: Found move_base_server_name on the parameter server. Setting move_base_server_name to tb3_2/move_base
[ INFO] [1606881048.901460134]: Found dds_domain on the parameter server. Setting dds_domain to 42.
[ INFO] [1606881048.917221411]: Found max_dist_to_first_waypoint on the parameter server. Setting max_dist_to_first_waypoint to 10.00.
[ INFO] [1606881048.920915853]: Found max_dist_to_first_waypoint on the parameter server. Setting max_dist_to_first_waypoint to 10.00.
[ INFO] [1606881048.931174361]: Found max_dist_to_first_waypoint on the parameter server. Setting max_dist_to_first_waypoint to 10.00.
[ INFO] [1606881048.980321407]: waiting for connection with move base action server: tb3_1/move_base
[ INFO] [1606881048.990659356]: waiting for connection with move base action server: tb3_0/move_base
[ INFO] [1606881049.003013806]: waiting for connection with move base action server: tb3_2/move_base
[ WARN] [1606881049.063128322]: Request for map failed; trying again...
[ WARN] [1606881049.070638017]: Request for map failed; trying again...
[ WARN] [1606881049.078357316]: Request for map failed; trying again...
[ INFO] [1606881049.306311471]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1606881049.307552290]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1606881049.396750274]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1606881049.398272548]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1606881050.870355513]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1606881050.890636190]: Physics dynamic reconfigure ready.
[ INFO] [1606881051.138910591, 0.015000000]: Laser Plugin: Using the 'robotNamespace' param: '/tb3_0/'
[ INFO] [1606881051.138982171, 0.015000000]: Starting Laser Plugin (ns = /tb3_0/)
[ INFO] [1606881051.139674992, 0.015000000]: Laser Plugin (ns = /tb3_0/)  <tf_prefix_>, set to "/tb3_0"
[ INFO] [1606881051.232696558, 0.015000000]: Starting plugin DiffDrive(ns = /tb3_0//)
[ INFO] [1606881051.232751162, 0.015000000]: DiffDrive(ns = /tb3_0//): <rosDebugLevel> = na
[ INFO] [1606881051.233219430, 0.015000000]: DiffDrive(ns = /tb3_0//): <tf_prefix> = /tb3_0
[ INFO] [1606881051.233997409, 0.015000000]: DiffDrive(ns = /tb3_0//): Advertise joint_states
[ INFO] [1606881051.234522151, 0.015000000]: DiffDrive(ns = /tb3_0//): Try to subscribe to cmd_vel
[ INFO] [1606881051.236291079, 0.015000000]: DiffDrive(ns = /tb3_0//): Subscribe to cmd_vel
[ INFO] [1606881051.236704916, 0.015000000]: DiffDrive(ns = /tb3_0//): Advertise odom on odom 
[ INFO] [1606881051.638734650, 0.193000000]: Laser Plugin: Using the 'robotNamespace' param: '/tb3_1/'
[ INFO] [1606881051.638786907, 0.193000000]: Starting Laser Plugin (ns = /tb3_1/)
[ INFO] [1606881051.639709073, 0.193000000]: Laser Plugin (ns = /tb3_1/)  <tf_prefix_>, set to "/tb3_1"
[ INFO] [1606881051.642050399, 0.193000000]: Starting plugin DiffDrive(ns = /tb3_1//)
[ INFO] [1606881051.642102348, 0.193000000]: DiffDrive(ns = /tb3_1//): <rosDebugLevel> = na
[ INFO] [1606881051.642698224, 0.193000000]: DiffDrive(ns = /tb3_1//): <tf_prefix> = /tb3_1
[ INFO] [1606881051.643894645, 0.193000000]: DiffDrive(ns = /tb3_1//): Advertise joint_states
[ INFO] [1606881051.643950917, 0.193000000]: DiffDrive(ns = /tb3_1//): Try to subscribe to cmd_vel
[ INFO] [1606881051.647037605, 0.193000000]: DiffDrive(ns = /tb3_1//): Subscribe to cmd_vel
[ INFO] [1606881051.647610410, 0.193000000]: DiffDrive(ns = /tb3_1//): Advertise odom on odom 
[tb3_0/spawn_urdf-5] process has finished cleanly
log file: /home/oto/.ros/log/8fd41d2a-3451-11eb-8091-4f557f9b1134/tb3_0-spawn_urdf-5*.log
[ INFO] [1606881052.027069111, 0.343000000]: Laser Plugin: Using the 'robotNamespace' param: '/tb3_2/'
[ INFO] [1606881052.027169821, 0.343000000]: Starting Laser Plugin (ns = /tb3_2/)
[ INFO] [1606881052.029290386, 0.343000000]: Laser Plugin (ns = /tb3_2/)  <tf_prefix_>, set to "/tb3_2"
[ INFO] [1606881052.030601113, 0.343000000]: Starting plugin DiffDrive(ns = /tb3_2//)
[ INFO] [1606881052.030649377, 0.343000000]: DiffDrive(ns = /tb3_2//): <rosDebugLevel> = na
[ INFO] [1606881052.031294744, 0.343000000]: DiffDrive(ns = /tb3_2//): <tf_prefix> = /tb3_2
[ INFO] [1606881052.032242705, 0.343000000]: DiffDrive(ns = /tb3_2//): Advertise joint_states
[ INFO] [1606881052.032315681, 0.343000000]: DiffDrive(ns = /tb3_2//): Try to subscribe to cmd_vel
[ INFO] [1606881052.035606278, 0.343000000]: DiffDrive(ns = /tb3_2//): Subscribe to cmd_vel
[ INFO] [1606881052.036550342, 0.343000000]: DiffDrive(ns = /tb3_2//): Advertise odom on odom 
[tb3_1/spawn_urdf-7] process has finished cleanly
log file: /home/oto/.ros/log/8fd41d2a-3451-11eb-8091-4f557f9b1134/tb3_1-spawn_urdf-7*.log
[tb3_2/spawn_urdf-9] process has finished cleanly
log file: /home/oto/.ros/log/8fd41d2a-3451-11eb-8091-4f557f9b1134/tb3_2-spawn_urdf-9*.log
[ WARN] [1606881057.187273974, 5.004000000]: Timed out waiting for transform from tb3_2/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101 timeout was 0.1.
[ WARN] [1606881057.188992469, 5.005000000]: Timed out waiting for transform from tb3_1/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] [1606881057.200331115, 5.016000000]: Timed out waiting for transform from tb3_0/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] [1606881062.270505453, 10.015000000]: Timed out waiting for transform from tb3_2/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] [1606881062.281109649, 10.025000000]: Timed out waiting for transform from tb3_0/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101 timeout was 0.1.
[ WARN] [1606881062.286201820, 10.030000000]: Timed out waiting for transform from tb3_1/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.
[ERROR] [1606881062.289378556, 10.033000000]: timed out waiting for action server: tb3_1/move_base
[ERROR] [1606881062.289887325, 10.033000000]: timed out waiting for action server: tb3_0/move_base
[ERROR] [1606881062.292523524, 10.036000000]: timed out waiting for action server: tb3_2/move_base
[ERROR] [1606881062.318922501, 10.061000000]: free_fleet_client_ros1: unable to initialize.
[ERROR] [1606881062.329426397, 10.072000000]: free_fleet_client_ros1: unable to initialize.
[ERROR] [1606881062.403268659, 10.144000000]: free_fleet_client_ros1: unable to initialize.
[tb3_0_free_fleet_client_node-17] process has died [pid 216362, exit code 1, cmd /home/oto/client_ws/install/free_fleet_client_ros1/lib/free_fleet_client_ros1/free_fleet_client_ros1 __name:=tb3_0_free_fleet_client_node __log:=/home/oto/.ros/log/8fd41d2a-3451-11eb-8091-4f557f9b1134/tb3_0_free_fleet_client_node-17.log].
log file: /home/oto/.ros/log/8fd41d2a-3451-11eb-8091-4f557f9b1134/tb3_0_free_fleet_client_node-17*.log
[tb3_1_free_fleet_client_node-18] process has died [pid 216366, exit code 1, cmd /home/oto/client_ws/install/free_fleet_client_ros1/lib/free_fleet_client_ros1/free_fleet_client_ros1 __name:=tb3_1_free_fleet_client_node __log:=/home/oto/.ros/log/8fd41d2a-3451-11eb-8091-4f557f9b1134/tb3_1_free_fleet_client_node-18.log].
log file: /home/oto/.ros/log/8fd41d2a-3451-11eb-8091-4f557f9b1134/tb3_1_free_fleet_client_node-18*.log
[tb3_2_free_fleet_client_node-19] process has died [pid 216367, exit code 1, cmd /home/oto/client_ws/install/free_fleet_client_ros1/lib/free_fleet_client_ros1/free_fleet_client_ros1 __name:=tb3_2_free_fleet_client_node __log:=/home/oto/.ros/log/8fd41d2a-3451-11eb-8091-4f557f9b1134/tb3_2_free_fleet_client_node-19.log].
log file: /home/oto/.ros/log/8fd41d2a-3451-11eb-8091-4f557f9b1134/tb3_2_free_fleet_client_node-19*.log
[ WARN] [1606881067.333663649, 15.023000000]: Timed out waiting for transform from tb3_2/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] [1606881067.340405255, 15.029000000]: Timed out waiting for transform from tb3_0/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] [1606881067.350496103, 15.039000000]: Timed out waiting for transform from tb3_1/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] [1606881067.939510780, 15.623000000]: No laser scan received (and thus no pose updates have been published) for 15.623000 seconds.  Verify that data is being published on the /tb3_0/scan topic.
[ WARN] [1606881067.946387987, 15.630000000]: No laser scan received (and thus no pose updates have been published) for 15.630000 seconds.  Verify that data is being published on the /tb3_2/scan topic.
[ WARN] [1606881067.946820488, 15.630000000]: No laser scan received (and thus no pose updates have been published) for 15.630000 seconds.  Verify that data is being published on the /tb3_1/scan topic.
[ WARN] [1606881072.394171757, 20.034000000]: Timed out waiting for transform from tb3_2/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] [1606881072.398765741, 20.039000000]: Timed out waiting for transform from tb3_0/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] [1606881072.407023586, 20.047000000]: Timed out waiting for transform from tb3_1/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101 timeout was 0.1.
[ WARN] [1606881077.496207322, 25.046000000]: Timed out waiting for transform from tb3_2/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] [1606881077.504984898, 25.055000000]: Timed out waiting for transform from tb3_0/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] [1606881077.513449960, 25.064000000]: Timed out waiting for transform from tb3_1/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101 timeout was 0.1.
[ WARN] [1606881082.523662513, 30.054000000]: Timed out waiting for transform from tb3_2/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] [1606881082.538453659, 30.069000000]: Timed out waiting for transform from tb3_0/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] [1606881082.542697206, 30.073000000]: Timed out waiting for transform from tb3_1/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] [1606881083.098162598, 30.623000000]: No laser scan received (and thus no pose updates have been published) for 30.623000 seconds.  Verify that data is being published on the /tb3_0/scan topic.
[ WARN] [1606881083.104508397, 30.630000000]: No laser scan received (and thus no pose updates have been published) for 30.630000 seconds.  Verify that data is being published on the /tb3_2/scan topic.
[ WARN] [1606881083.105146073, 30.630000000]: No laser scan received (and thus no pose updates have been published) for 30.630000 seconds.  Verify that data is being published on the /tb3_1/scan topic.
[ WARN] [1606881087.787259498, 35.073000000]: Timed out waiting for transform from tb3_2/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] [1606881087.787428605, 35.073000000]: Timed out waiting for transform from tb3_0/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] [1606881087.801342859, 35.087000000]: Timed out waiting for transform from tb3_1/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] [1606881092.980982027, 40.084000000]: Timed out waiting for transform from tb3_0/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101 timeout was 0.1.
[ WARN] [1606881092.984390896, 40.087000000]: Timed out waiting for transform from tb3_2/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] [1606881092.999718563, 40.102000000]: Timed out waiting for transform from tb3_1/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] [1606881098.214945897, 45.100000000]: Timed out waiting for transform from tb3_0/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] [1606881098.217066144, 45.102000000]: Timed out waiting for transform from tb3_2/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] [1606881098.228636878, 45.113000000]: Timed out waiting for transform from tb3_1/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] [1606881098.762677758, 45.623000000]: No laser scan received (and thus no pose updates have been published) for 45.623000 seconds.  Verify that data is being published on the /tb3_0/scan topic.
[ WARN] [1606881098.769890131, 45.630000000]: No laser scan received (and thus no pose updates have been published) for 45.630000 seconds.  Verify that data is being published on the /tb3_2/scan topic.
[ WARN] [1606881098.769890123, 45.630000000]: No laser scan received (and thus no pose updates have been published) for 45.630000 seconds.  Verify that data is being published on the /tb3_1/scan topic.
[ WARN] [1606881103.436518786, 50.110000000]: Timed out waiting for transform from tb3_2/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] [1606881103.437947306, 50.112000000]: Timed out waiting for transform from tb3_0/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] [1606881103.449665141, 50.123000000]: Timed out waiting for transform from tb3_1/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] [1606881108.694614879, 55.122000000]: Timed out waiting for transform from tb3_2/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] [1606881108.699713797, 55.127000000]: Timed out waiting for transform from tb3_0/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] [1606881108.708920031, 55.136000000]: Timed out waiting for transform from tb3_1/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] [1606881113.957685643, 60.130000000]: Timed out waiting for transform from tb3_2/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] [1606881113.958956832, 60.132000000]: Timed out waiting for transform from tb3_0/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] [1606881113.978885316, 60.151000000]: Timed out waiting for transform from tb3_1/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] [1606881114.461925645, 60.624000000]: No laser scan received (and thus no pose updates have been published) for 60.623000 seconds.  Verify that data is being published on the /tb3_0/scan topic.
[ WARN] [1606881114.468532773, 60.630000000]: No laser scan received (and thus no pose updates have been published) for 60.630000 seconds.  Verify that data is being published on the /tb3_2/scan topic.
[ WARN] [1606881114.468638385, 60.630000000]: No laser scan received (and thus no pose updates have been published) for 60.630000 seconds.  Verify that data is being published on the /tb3_1/scan topic.
Warning: Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link at time 63.643000 according to authority unknown_publisherTF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link at time 63.643000 according to authority unknown_publisher

         at line          at line 278278 in  in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp/tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp

Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_right_link at time 63.643000 according to authority unknown_publisherWarning: 
TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_right_link at time 63.643000 according to authority unknown_publisher         at line 
278         at line  in 278/tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp in 
/tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link at time 63.643000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_right_link at time 63.643000 according to authority unknown_publisher
         at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: [ WARN] [1606881117.601825046, 63.652000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_left_link at time 63.643000 according to authority unknown_publisher
aaronchongth commented 3 years ago

These errors are caused by changes in robot_state_publisher, that is still under discussion as mentioned in my previous answer. I would guess that this is due to not having set up a fresh workspace with these packages and branches yet, please rebuild your workspace with these instructions,

rm -rf ~/client_ws
mkdir -p ~/client_ws/src

cd ~/client_ws/src
git clone https://github.com/osrf/free_fleet -b fix/focal-docs
git clone https://github.com/eclipse-cyclonedds/cyclonedds
git clone https://github.com/rhaschke/robot_state_publisher -b noetic-devel
git clone https://github.com/aaronchongth/turtlebot3 -b noetic-devel
git clone https://github.com/aaronchongth/turtlebot3_simulations -b noetic-devel

sudo apt install ros-noetic-gazebo-ros-pkgs ros-noetic-dwa-local-planner

cd ~/client_ws
rosdep install --from-paths src --ignore-src --rosdistro noetic -yr

source /opt/ros/noetic/setup.bash
colcon build

export TURTLEBOT3_MODEL=burger; roslaunch ff_examples_ros1 multi_turtlebot3_ff.launch
otomoov commented 3 years ago

Solved. Thank you!

KamalanathanN commented 3 years ago

I had the same error as @otomoov but the above solutions by @aaronchongth didn't work.... It seems like the tf_prefix in https://github.com/rhaschke/robot_state_publisher -b noetic-devel is changed to prefix_tf_with editing the multi_turtlebot3.launch file inside the turtlebot3_simulations/turtlebot3_gazebo/launch directory SOLVED the issue :) Please update documentation regarding this.

aaronchongth commented 3 years ago

Thanks for the heads up! I have made the changes as mentioned, https://github.com/osrf/free_fleet/pull/78. Cheers!

LKSeng commented 3 years ago

I am currently trying the Multi Turtlebot3 Simulation following the steps in the current version of README.md but I've ran into similar error messages:

log file: /home/user/.ros/log/a52d3494-1548-11ec-8885-7104b29c4b85/tb3_1-spawn_urdf-7*.log
[tb3_2/spawn_urdf-9] process has finished cleanly
log file: /home/user/.ros/log/a52d3494-1548-11ec-8885-7104b29c4b85/tb3_2-spawn_urdf-9*.log
[ WARN] [1631616239.066110100, 5.032000000]: Timed out waiting for transform from tb3_0/base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101 timeout was 0.1.
[ WARN] [1631616239.070414616, 5.036000000]: Timed out waiting for transform from tb3_1/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] [1631616239.070414574, 5.036000000]: Timed out waiting for transform from tb3_2/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] [1631616694.442429254, 435.776000000]: No laser scan received (and thus no pose updates have been published) for 435.776000 seconds.  Verify that data is being published on the /tb3_0/scan topic.
[ WARN] [1631616694.450673928, 435.784000000]: No laser scan received (and thus no pose updates have been published) for 435.784000 seconds.  Verify that data is being published on the /tb3_1/scan topic.
[ WARN] [1631616694.451360856, 435.784000000]: No laser scan received (and thus no pose updates have been published) for 435.784000 seconds.  Verify that data is being published on the /tb3_2/scan topic.

My rqt_tf_tree is as follows:

frames

I've verified that the multi_turtlebot3.launch file is using prefix_tf_with, and that the robot_state_publisher is using the version with prefix_tf_with.

Repro steps:

rm -r ~/client_ws
mkdir -p ~/client_ws/src

cd ~/client_ws/src
git clone https://github.com/open-rmf/free_fleet
git clone https://github.com/eclipse-cyclonedds/cyclonedds
git clone https://github.com/rhaschke/robot_state_publisher -b noetic-devel
git clone https://github.com/aaronchongth/turtlebot3_simulations -b noetic-devel

cd robot_state_publisher
git checkout 661628a76bbb

##sudo apt install ros-noetic-gazebo-ros-pkgs ros-noetic-dwa-local-planner ##installed before
cd ~/client_ws
##rosdep install --from-paths src --ignore-src --rosdistro noetic -yr ##installed before

source /opt/ros/noetic/setup.bash
colcon build

source ~/client_ws/install/setup.bash
export TURTLEBOT3_MODEL=burger; roslaunch ff_examples_ros1 multi_turtlebot3_ff.launch

Am I missing something?

aaronchongth commented 3 years ago

Thanks for bringing this up! The steps you have been following is correct, and I have managed to recreate the issue, we are looking into it now

lkw303 commented 3 years ago

Hey I also faced this error previously and I believe that it is due to the same problem : it seems that gazebo node is not publishing the transforms with the prefixes thus leading to a broken transform tree.

What I did as a quick fix (although I'm not sure if this is the best solutuion to this problem), was to add the prefix before the frames in the gazebo.xacro file which is passed in via the urdf.xacro file as shown:

<group ns = "$(arg first_tb3)">
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro' botname:=$(arg first_tb3)" />

https://github.com/lkw303/turtlebot3_simulations/blob/noetic-devel-multi-fix/turtlebot3_gazebo/launch/multi_turtlebot3_office.launch#L28



<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:arg name="botname" default=""/>
  <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
  <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger.gazebo.xacro" />

https://github.com/lkw303/turtlebot3/blob/noetic-devel-multi-fix/turtlebot3_description/urdf/turtlebot3_burger.urdf.xacro#L3



 <gazebo>
    <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
      <commandTopic>cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>$(arg botname)/odom</odometryFrame>

https://github.com/lkw303/turtlebot3/blob/noetic-devel-multi-fix/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro#L55-L58 

<plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
  <topicName>scan</topicName>
  <frameName>$(arg botname)/base_scan</frameName>

https://github.com/lkw303/turtlebot3/blob/noetic-devel-multi-fix/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro#L142



Hope this helps.

aaronchongth commented 3 years ago

Hello @lkw303! Thanks for your suggestion, you are absolutely right, it was due to the deprecation of tf_prefix, even on the side of the plugins.

In order to ensure the examples do not get broken again, I have tagged the specific commit before those changes on gazebo_ros_pkgs which should allow the examples to work in the future too.

I will continue to monitor the discussions regarding tf_prefix in noetic, and when it has been resolved I would hope to remove the use of those forked packages or specific commits.

Let me know if the fix works!

lkw303 commented 3 years ago

Hi @aaronchongth , yup I just did a fresh install using the instructions form the multi-robot-example branch and the multi turtlebot3 example worked fine!

LKSeng commented 3 years ago

Thank you for fixes and suggestions. I managed to get it working as well.

For those that stumble upon this topic, the rqt_tf_tree for a working run would look like this: correct frames

mezomezo123 commented 2 years ago

Thank you for fixes and suggestions. I managed to get it working as well.

For those that stumble upon this topic, the rqt_tf_tree for a working run would look like this: correct frames

could tell me exactly what you have done to get this

LKSeng commented 2 years ago

Thank you for fixes and suggestions. I managed to get it working as well. For those that stumble upon this topic, the rqt_tf_tree for a working run would look like this: correct frames

could tell me exactly what you have done to get this

It has been some time since I did this so there might be some changes as to how the simulation is launched. For reference, the steps I used to launch the simulation can be found in https://github.com/open-rmf/free_fleet/issues/60#issuecomment-919040498.

As to how to get the tf tree, you might need to install rqt_tf_tree. On Noetic, this can be done with

sudo apt install ros-noetic-rqt-tf-tree

Followed by running

source /opt/ros/noetic/setup.bash
rosrun rqt_tf_tree rqt_tf_tree
jordanperrin commented 2 years ago

Screenshot from 2022-08-01 15-05-11

Ive done the changes you mentioned in the launch, gazebo.xacro, and gazebo.xacro and my tree is still broken. I am spawning two turtlebots into the turtlebot3_world map. Ive attached a screenshot of the tree. I feel like it has something to do with amcl since i never see that broadcaster on my tree. The only way I can connect every tree is through a static publisher but I still run into issues with the wheel links

aaronchongth commented 2 years ago

hello @jordanperrin! I'm not too sure if I can be of much help, since this is not exactly related to free_fleet, from what I see, it looks like the robot_state_publisher for your 2 added robots might not be running, or may have something configured wrongly. Could it be the namespacing/prefix you've applied to the new robots that were spawned?

Shrinivas09 commented 1 year ago

I am still getting a broken rqt graph when running the multi turtlebot simulation. Also when i am running source ~/ff_ros1_ws/devel/setup.bash , it is showing as there is no such directory. I have tried re installing the whole package but no luck in getting this resolved. frames The single turtlebot simulation works just fine.

sayoojsaps commented 7 months ago 
<group ns = "$(arg third_tb3)">
    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
      <param name="publish_frequency" type="double" value="50.0" />
      <!--param name="tf_prefix" value="$(arg third_tb3)" /-->
    </node>
     <param name="tf_prefix" value="$(arg third_tb3)" />
    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg third_tb3) -x $(arg third_tb3_x_pos) -y $(arg third_tb3_y_pos) -z $(arg third_tb3_z_pos) -Y $(arg third_tb3_yaw) -param robot_description" />
  </group>

</launch>

I simply change the position of tf_prefix parameter outside robot state publisher node. That helped me to get each robot's namespace before framename. I additionally created a tfbroadcaster that publishes tf from map topic to each robot's odom frame. Now I am able to get rqt_tf_tree similar as @LKSeng got. Hope that helps