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Problem transformation base_link to map #1

Open chcorbato opened 4 years ago

chcorbato commented 4 years ago

It would be very useful to be able to launch the system giving the initial pose estimate to the amcl, setting it to the spawn pose in Gazebo. Also, a minimal readme on how to use this package.

Currently I managed to launch:

roslaunch metacontrol_sim ridgeback_yumi_world.launch

and

roslaunch metacontrol_nav amcl_demo_standard.launch
(these two continuous warnings):
...
[ WARN] [1586931819.758996045, 3389.333000000]: Timed out waiting for transform from base_link 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] [1586931829.721728029, 3394.005000000]: No laser scan received (and thus no pose updates have been published) for 3394.005000 seconds.  Verify that data is being published on the /front/scan topic.
...

This is my ros node graph and rviz, after configuring the Fixed Frame and adding the Map topic. rosgraph rviz_screenshot_2020_04_15-08_31_50

chcorbato commented 4 years ago

Ok, I think my problem is related to the transformation base_link to map Can this be caused by my machine being to slow to run this?

marioney commented 4 years ago

Can this be caused by my machine being to slow to run this?

It may very well be because of this. Maybe we should add a launcher without the amcl to reduce computer load

chcorbato commented 4 years ago

I'd rather have a less demanding simulation. Without amcl we cannot have autonomous navigation, right?

marioney commented 4 years ago

I'd rather have a less demanding simulation. Without amcl we cannot have autonomous navigation, right?

We can use the fake_localization same as we did for the MOOC, it should speed up the simulation considerably.

darkobozhinoski commented 4 years ago

Hi @marioney ,

I am getting the following error when I run roslaunch metacontrol_sim ridgeback_yumi_world.launch

[ERROR] [1587376793.089915363]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/yumi_joint_1_r [ERROR] [1587376793.090589384]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/yumi_joint_2_r

Do you know what I can do to resolve this?

marioney commented 4 years ago

I am getting the following error when I run roslaunch metacontrol_sim ridgeback_yumi_world.launch

[ERROR] [1587376793.089915363]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/yumi_joint_1_r [ERROR] [1587376793.090589384]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/yumi_joint_2_r

Do you know what I can do to resolve this?

You can safely ignore those errors, they refer to the Yumi controller, which is not being used now

marioney commented 4 years ago

I'd rather have a less demanding simulation. Without amcl we cannot have autonomous navigation, right?

I've added the fake_localization option to the amcl launchers, https://github.com/rosin-project/metacontrol_sim/commit/2763ea992243df1f4091006cb0f8c779adc7b053 and ff2879ddca313c5a5efd8408527e7765eaf47dd4 This should solve the initial issue of the base_link to map transform and lower computation requirements

chcorbato commented 4 years ago

I keep running into the issue with the transformation:

Timed out waiting for transform from base_link 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.

I am running this:

roslaunch metacontrol_sim ridgeback_world.launch 

roslaunch metacontrol_nav amcl_demo_standard.launch use_fake_localization:="true"