After Setting the Initial pose on the map , it is similar to when generating a map and not navigation, localization is not happening

[Rahul007RR]

Robot Model

Turtlebot4 Standard

ROS distro

Humble

Networking Configuration

Discovery Server

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

ros-humble-turtlebot4

Type of issue

Navigation (SLAM, Nav2 etc.)

Expected behaviour

localization and navigation after setting the initial pose

Actual behaviour

No localisation is seen and the map is same as while generating a map

Error messages

No response

To Reproduce

ros2 launch turtlebot4_navigation localization.launch.py map:=office.yaml ros2 launch turtlebot4_navigation nav2.launch.py ros2 launch turtlebot4_viz view_robot.launch.py

Other notes

No response

[RustyCPR]

Hi @Rahul007RR Thanks for your patience. Can you please expand on what the issue you are seeing is?

Localization Localization uses an existing map along with live odometry and laserscan data to figure out the position of the robot on the given map. It does not update the map if any changes have been made to the environment, but we can still avoid new obstacles when navigating. Because the map doesn't change, we can get more repeatable navigation results.

Thank you, Rusty

[taara67]

I have a similar problem.

I was successful in generating the map and nav_to_pose.py once, but I can't reproduce it.

The execution procedure is the same:

ros2 launch turtlebot4_navigation localization.launch.py ​​map:=office.yaml

ros2 launch turtlebot4_navigation nav2.launch.py

ros2 launch turtlebot4_viz view_robot.launch.py

---

nav2 log

[controller_server-1] [ERROR] [1724825409.267286839] [local_costmap.local_costmap]: StaticLayer: "map" passed to lookupTransform argument target_frame does not exist. 
[planner_server-3] [INFO] [1724825409.580182719] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[controller_server-1] [ERROR] [1724825409.666773656] [local_costmap.local_costmap]: StaticLayer: "map" passed to lookupTransform argument target_frame does not exist. 
[controller_server-1] [ERROR] [1724825409.974961593] [local_costmap.local_costmap]: StaticLayer: "map" passed to lookupTransform argument target_frame does not exist. 
[planner_server-3] [INFO] [1724825410.080182260] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[controller_server-1] [ERROR] [1724825410.282637001] [local_costmap.local_costmap]: StaticLayer: "map" passed to lookupTransform argument target_frame does not exist. 
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)

---

rviz log

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[rviz2-1] [INFO] [1724823856.778712920] [rviz2]: Message Filter dropping message: frame 'odom' at time 1724823853.038 for reason 'discarding message because the queue is full'
[rviz2-1] [INFO] [1724823857.163267390] [rviz2]: Message Filter dropping message: frame 'odom' at time 1724823853.277 for reason 'discarding message because the queue is full'
[rviz2-1] [INFO] [1724823857.163353939] [rviz2]: Message Filter dropping message: frame 'odom' at time 1724823850.405 for reason 'discarding message because the queue is full'
[rviz2-1] [INFO] [1724823857.484356087] [rviz2]: Message Filter dropping message: frame 'odom' at time 1724823853.743 for reason 'discarding message because the queue is full'
[rviz2-1] [INFO] [1724823857.771204074] [rviz2]: Message Filter dropping message: frame 'odom' at time 1724823854.030 for reason 'discarding message because the queue is full'

[RustyCPR]

Hi @taara67 Can you please open your own ticket and please share the ros2 launch turtlebot4_navigation localization.launch.py full terminal output? I'm closing this ticket because user @Rahul007RR has not replied in some time. Thank you, Rusty