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robotics-in-concert / rocon_demos

Demo software for rocon milestones.
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TF error when waiterbot is returnning to dock #70

Open hughie opened 8 years ago

hughie commented 8 years ago

when waiterbot is is returnning to dock after delivery

[ INFO] [1446521157.475459787]: /young/docking_interactor : Return to dock
[ INFO] [1446521157.494034004]: AR tracker reconfigured: ENABLED 4.00 6.90 0.08 0.20
[ INFO] [1446521157.704651952]: Got new plan
[ INFO] [1446521158.704668146]: Got new plan
[ INFO] [1446521159.704659650]: Got new plan
[ INFO] [1446521160.704667725]: Got new plan
[ INFO] [1446521161.704616050]: Got new plan
[ INFO] [1446521162.705050239]: Got new plan
[ INFO] [1446521163.705012555]: Got new plan
[ INFO] [1446521164.704659037]: Got new plan
[ INFO] [1446521165.704674021]: Got new plan
[ INFO] [1446521166.704980048]: Got new plan
[ INFO] [1446521167.704667796]: Got new plan
[ INFO] [1446521168.704682467]: Got new plan
[ INFO] [1446521169.704685979]: Got new plan
[ INFO] [1446521170.704673758]: Got new plan
[ INFO] [1446521171.704668042]: Got new plan
[ INFO] [1446521172.704659295]: Got new plan
[ INFO] [1446521173.704670242]: Got new plan
[ INFO] [1446521174.704691514]: Got new plan
[ INFO] [1446521175.704671638]: Got new plan
[ INFO] [1446521176.704661807]: Got new plan
[ INFO] [1446521177.704666407]: Got new plan
[ INFO] [1446521178.704655699]: Got new plan
[ INFO] [1446521179.704662641]: Got new plan
[ INFO] [1446521180.704651602]: Got new plan
[ WARN] [1446521181.004426630]: TF error: Lookup would require extrapolation at time 1446521180.292357921, but only time 1446521181.004299233 is in the buffer, when looking up transform from frame [base_footprint] to frame [map]
[ WARN] [1446521181.255144011]: TF error: Lookup would require extrapolation into the past.  Requested time 1446521180.292357921 but the earliest data is at time 1446521181.004299233, when looking up transform from frame [base_footprint] to frame [map]
[ WARN] [1446521181.503156626]: TF error: Lookup would require extrapolation into the past.  Requested time 1446521180.792334079 but the earliest data is at time 1446521181.004299233, when looking up transform from frame [base_footprint] to frame [map]
[ INFO] [1446521181.704657359]: Got new plan
[ WARN] [1446521182.001219451]: TF error: Lookup would require extrapolation into the past.  Requested time 1446521181.292361021 but the earliest data is at time 1446521181.342923196, when looking up transform from frame [base_footprint] to frame [map]
[ WARN] [1446521182.256459684]: TF error: Lookup would require extrapolation into the past.  Requested time 1446521181.292361021 but the earliest data is at time 1446521181.342923196, when looking up transform from frame [base_footprint] to frame [map]
[ WARN] [1446521182.604251264]: MSG to TF: Quaternion Not Properly Normalized
[ERROR] [1446521182.705364874]: Quaternion has nans or infs... discarding as a navigation goal
[ INFO] [1446521182.753095337]: AR tracker reconfigured: DISABLED 4.00 6.90 0.08 0.20
[INFO] [WallTime: 1446521182.760042] Robot State Manager : Docking Interactor result : False, Message : Failed to return back to docking station..
Simple mixer control 'PCM',0
  Capabilities: pvolume
  Playback channels: Front Left - Front Right
  Limits: Playback 0 - 255
  Mono:
  Front Left: Playback 204 [80%] [-10.20dB]
  Front Right: Playback 204 [80%] [-10.20dB]
Simple mixer control 'Master',0
  Capabilities: pvolume pswitch
  Playback channels: Front Left - Front Right
  Limits: Playback 0 - 87
  Mono:
  Front Left: Playback 70 [80%] [-12.75dB] [on]
  Front Right: Playback 70 [80%] [-12.75dB] [on]
Playing WAVE '/home/yujin/ros/waiterbot/src/kobuki-x/waiterbot_bringup/resources/sound_2015/moo.wav' : Signed 16 bit Little Endian, Rate 11025 Hz, Mono
[ WARN] [1446521183.805887734]: Kobuki : Incoming velocity commands not received for more than 0.60 seconds -> zero'ing velocity commands
Simple mixer control 'PCM',0
  Capabilities: pvolume
  Playback channels: Front Left - Front Right
  Limits: Playback 0 - 255
  Mono:
  Front Left: Playback 204 [80%] [-10.20dB]
  Front Right: Playback 204 [80%] [-10.20dB]
Simple mixer control 'Master',0
  Capabilities: pvolume pswitch
  Playback channels: Front Left - Front Right
  Limits: Playback 0 - 87
  Mono:
  Front Left: Playback 70 [80%] [-12.75dB] [on]
  Front Right: Playback 70 [80%] [-12.75dB] [on]
Playing WAVE '/home/yujin/ros/waiterbot/src/kobuki-x/waiterbot_bringup/resources/sound_2015/reset.wav' : Signed 16 bit Little Endian, Rate 44100 Hz, Stereo
[INFO] [WallTime: 1446521191.260705] Robot State Manager : Order Cancelling
[INFO] [WallTime: 1446521191.371861] Robot State Manager : Resource path : /home/yujin/ros/waiterbot/src/kobuki-x/waiterbot_bringup/resources/sound_2015
[INFO] [WallTime: 1446521191.685116] Rapp Manager : Stopping rapp 'simple_delivery_robot_ctrl/pickup_delivery'.
[young/robot_pose_publisher-42] killing on exit
hughie commented 8 years ago

kobuki-x/yocs_docking_interactor/src/yocs_docking_interactor/return_to_dock_handles.cpp

//robot_target_pose.header.stamp = ros::Time:now();
 78     robot_target_pose.header.stamp = ros::Time(0);

related link http://answers.ros.org/question/188023/tf-lookup-would-require-extrapolation-into-the-past/