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turtlebot / turtlebot4_simulator

TurtleBot 4 Simulator packages
Apache License 2.0
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rviz 无法显示地图 #17

Closed hchetet closed 2 years ago

hchetet commented 2 years ago

Ubuntu 版本 20.04 ros2 版本 Galactic

开了三个终端，分别执行了这三个launch文件，

  1. ros2 launch turtlebot4_ignition_bringup ignition.launch.py

  2. ros2 launch turtlebot4_viz view_robot.launch.py

  3. ros2 launch turtlebot4_navigation nav_bringup.launch.py slam:=sync

  4. ignition_gazebo正常运行，

  5. rviz2 不正常,终端报错：[rviz2-1] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist

3.执行导航的终端报错： [planner_server-4] [INFO] [1654652673.788495736] [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-3] [INFO] [1654652673.807613780] [local_costmap.local_costmap_rclcpp_node]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 10.432 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

不知道你们有没有遇到这种情况

roni-kreinin commented 2 years ago

I tried this and it worked for me. Can you make sure that your ROS_DOMAIN_ID is the same in all terminals? Also try running all of these in one terminal like this:

ros2 launch turtlebot4_ignition_bringup ignition.launch.py rviz:=true slam:=sync nav2:=true
roni-kreinin commented 2 years ago

Closing due to inactivity. Feel free to reopen.