nav2_dem Time Out on navigation.launch #208
Labels
bug
Something isn't working
Comments
|
Can someone help me with this? Furthermore, I did not find any gazebo in install folder or in /usr/share/. Is this suppose to open gazebo too or not? I also tried to continue the steps from the README.md file, and I could not make navigation planning, I made only pose estimation. Maybe this is because of the above Isuue, I am not sure. |
|
@mkhansenbot this is nav-demo related, can you triage (or nominate someone who can)? |
|
This looks like it's waiting for the transform from localization. Did you run localization in another terminal like the instructions in the README? |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Version or commit hash
nav2_demo-timeout-tf_error-odom-base-link
RMW Implementation
FastRTPS
Steps to reproduce issue
Build with ./build.sh the navigation2 image: osrf/space_nav2:latest
Build with ./build.sh the nav2_demo image: osrf/space_nav2_demo:latest
Run with ./run.sh the nav2_demo image
Inside the container created from nav2_demo
run the command:
ros2 launch space_nav2_bringup navigation_launch.py use_sim_time:=True params_file:=nav2_params.yamlExpected behavior
Not expected error and not timed out.
Actual behavior
Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
The above error is repeating for ever.
Backtrace or Console output
[INFO] [launch]: All log files can be found below /home/spaceros-user/.ros/log/2024-12-18-23-01-15-959372-Nebula-700
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [controller_server-1]: process started with pid [701]
[INFO] [smoother_server-2]: process started with pid [703]
[INFO] [planner_server-3]: process started with pid [705]
[INFO] [behavior_server-4]: process started with pid [707]
[INFO] [bt_navigator-5]: process started with pid [709]
[INFO] [waypoint_follower-6]: process started with pid [711]
[INFO] [velocity_smoother-7]: process started with pid [713]
[INFO] [lifecycle_manager-8]: process started with pid [715]
[lifecycle_manager-8] [INFO] [1734562876.111957665] [lifecycle_manager_navigation]: Creating
[lifecycle_manager-8] [INFO] [1734562876.112349755] [lifecycle_manager_navigation]: Creating and initializing lifecycle service clients
[waypoint_follower-6] [INFO] [1734562876.112338053] [waypoint_follower]:
[waypoint_follower-6] waypoint_follower lifecycle node launched.
[waypoint_follower-6] Waiting on external lifecycle transitions to activate
[waypoint_follower-6] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[velocity_smoother-7] [INFO] [1734562876.113340740] [velocity_smoother]:
[velocity_smoother-7] velocity_smoother lifecycle node launched.
[velocity_smoother-7] Waiting on external lifecycle transitions to activate
[velocity_smoother-7] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[smoother_server-2] [INFO] [1734562876.115221732] [smoother_server]:
[smoother_server-2] smoother_server lifecycle node launched.
[smoother_server-2] Waiting on external lifecycle transitions to activate
[smoother_server-2] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-1] [INFO] [1734562876.115630493] [controller_server]:
[controller_server-1] controller_server lifecycle node launched.
[controller_server-1] Waiting on external lifecycle transitions to activate
[controller_server-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-3] [INFO] [1734562876.115749795] [planner_server]:
[planner_server-3] planner_server lifecycle node launched.
[planner_server-3] Waiting on external lifecycle transitions to activate
[planner_server-3] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[waypoint_follower-6] [INFO] [1734562876.116191828] [waypoint_follower]: Creating
[bt_navigator-5] [INFO] [1734562876.118586696] [bt_navigator]:
[bt_navigator-5] bt_navigator lifecycle node launched.
[bt_navigator-5] Waiting on external lifecycle transitions to activate
[bt_navigator-5] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[bt_navigator-5] [INFO] [1734562876.118633303] [bt_navigator]: Creating
[behavior_server-4] [INFO] [1734562876.119945055] [behavior_server]:
[behavior_server-4] behavior_server lifecycle node launched.
[behavior_server-4] Waiting on external lifecycle transitions to activate
[behavior_server-4] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[smoother_server-2] [INFO] [1734562876.128175858] [smoother_server]: Creating smoother server
[planner_server-3] [INFO] [1734562876.128535798] [planner_server]: Creating
[planner_server-3] [INFO] [1734562876.130662027] [global_costmap.global_costmap]:
[planner_server-3] global_costmap lifecycle node launched.
[planner_server-3] Waiting on external lifecycle transitions to activate
[planner_server-3] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[planner_server-3] [INFO] [1734562876.133603433] [global_costmap.global_costmap]: Creating Costmap
[controller_server-1] [INFO] [1734562876.145319865] [controller_server]: Creating controller server
[controller_server-1] [INFO] [1734562876.147159199] [local_costmap.local_costmap]:
[controller_server-1] local_costmap lifecycle node launched.
[controller_server-1] Waiting on external lifecycle transitions to activate
[controller_server-1] See https://design.ros2.org/articles/node_lifecycle.html for more information.
[controller_server-1] [INFO] [1734562876.149817338] [local_costmap.local_costmap]: Creating Costmap
[lifecycle_manager-8] [INFO] [1734562876.217203881] [lifecycle_manager_navigation]: Starting managed nodes bringup...
[lifecycle_manager-8] [INFO] [1734562876.217239347] [lifecycle_manager_navigation]: Configuring controller_server
[controller_server-1] [INFO] [1734562876.217364590] [controller_server]: Configuring controller interface
[controller_server-1] [INFO] [1734562876.217432065] [controller_server]: getting goal checker plugins..
[controller_server-1] [INFO] [1734562876.217466610] [controller_server]: Controller frequency set to 20.0000Hz
[controller_server-1] [INFO] [1734562876.217485635] [local_costmap.local_costmap]: Configuring
[controller_server-1] [INFO] [1734562876.218405117] [local_costmap.local_costmap]: Using plugin "voxel_layer"
[controller_server-1] [INFO] [1734562876.222652194] [local_costmap.local_costmap]: Subscribed to Topics: scan
[controller_server-1] [INFO] [1734562876.223603314] [local_costmap.local_costmap]: Initialized plugin "voxel_layer"
[controller_server-1] [INFO] [1734562876.223617421] [local_costmap.local_costmap]: Using plugin "inflation_layer"
[controller_server-1] [INFO] [1734562876.223876413] [local_costmap.local_costmap]: Initialized plugin "inflation_layer"
[controller_server-1] [ERROR] [1734562876.224538085] [local_costmap.local_costmap]: The configured inflation radius (0.550) is smaller than the computed inscribed radius (0.810) of your footprint, it is highly recommended to set inflation radius to be at least as big as the inscribed radius to avoid collisions
[controller_server-1] [INFO] [1734562876.225886976] [controller_server]: Created progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker
[controller_server-1] [INFO] [1734562876.226803903] [controller_server]: Created goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker
[controller_server-1] [INFO] [1734562876.226904590] [controller_server]: Controller Server has general_goal_checker goal checkers available.
[controller_server-1] [INFO] [1734562876.235283970] [controller_server]: Created controller : FollowPath of type dwb_core::DWBLocalPlanner
[controller_server-1] [INFO] [1734562876.235524177] [controller_server]: Setting transform_tolerance to 0.200000
[controller_server-1] [INFO] [1734562876.238814443] [controller_server]: Using critic "RotateToGoal" (dwb_critics::RotateToGoalCritic)
[controller_server-1] [INFO] [1734562876.238958451] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1734562876.238998896] [controller_server]: Using critic "Oscillation" (dwb_critics::OscillationCritic)
[controller_server-1] [INFO] [1734562876.239107919] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1734562876.239141461] [controller_server]: Using critic "BaseObstacle" (dwb_critics::BaseObstacleCritic)
[controller_server-1] [INFO] [1734562876.239193999] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1734562876.239241317] [controller_server]: Using critic "GoalAlign" (dwb_critics::GoalAlignCritic)
[controller_server-1] [INFO] [1734562876.239337316] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1734562876.239388371] [controller_server]: Using critic "PathAlign" (dwb_critics::PathAlignCritic)
[controller_server-1] [INFO] [1734562876.239542969] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1734562876.239584416] [controller_server]: Using critic "PathDist" (dwb_critics::PathDistCritic)
[controller_server-1] [INFO] [1734562876.239645780] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1734562876.239688590] [controller_server]: Using critic "GoalDist" (dwb_critics::GoalDistCritic)
[controller_server-1] [INFO] [1734562876.239791482] [controller_server]: Critic plugin initialized
[controller_server-1] [INFO] [1734562876.239805938] [controller_server]: Controller Server has FollowPath controllers available.
[lifecycle_manager-8] [INFO] [1734562876.240935041] [lifecycle_manager_navigation]: Configuring smoother_server
[smoother_server-2] [INFO] [1734562876.241027703] [smoother_server]: Configuring smoother server
[smoother_server-2] [INFO] [1734562876.243209385] [smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother
[smoother_server-2] [INFO] [1734562876.243337473] [smoother_server]: Smoother Server has simple_smoother smoothers available.
[lifecycle_manager-8] [INFO] [1734562876.244072812] [lifecycle_manager_navigation]: Configuring planner_server
[planner_server-3] [INFO] [1734562876.244154474] [planner_server]: Configuring
[planner_server-3] [INFO] [1734562876.244182226] [global_costmap.global_costmap]: Configuring
[planner_server-3] [INFO] [1734562876.245084065] [global_costmap.global_costmap]: Using plugin "static_layer"
[planner_server-3] [INFO] [1734562876.248882927] [global_costmap.global_costmap]: Subscribing to the map topic (/map) with transient local durability
[planner_server-3] [INFO] [1734562876.249002750] [global_costmap.global_costmap]: Initialized plugin "static_layer"
[planner_server-3] [INFO] [1734562876.249011036] [global_costmap.global_costmap]: Using plugin "obstacle_layer"
[planner_server-3] [INFO] [1734562876.249143652] [global_costmap.global_costmap]: Subscribed to Topics: scan
[planner_server-3] [INFO] [1734562876.249547354] [global_costmap.global_costmap]: Initialized plugin "obstacle_layer"
[planner_server-3] [INFO] [1734562876.249556832] [global_costmap.global_costmap]: Using plugin "inflation_layer"
[planner_server-3] [INFO] [1734562876.249794113] [global_costmap.global_costmap]: Initialized plugin "inflation_layer"
[planner_server-3] [ERROR] [1734562876.250342074] [global_costmap.global_costmap]: The configured inflation radius (0.550) is smaller than the computed inscribed radius (0.810) of your footprint, it is highly recommended to set inflation radius to be at least as big as the inscribed radius to avoid collisions
[planner_server-3] [INFO] [1734562876.251659566] [planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner
[planner_server-3] [INFO] [1734562876.251674474] [planner_server]: Configuring plugin GridBased of type NavfnPlanner
[planner_server-3] [INFO] [1734562876.251809475] [planner_server]: Planner Server has GridBased planners available.
[lifecycle_manager-8] [INFO] [1734562876.253092143] [lifecycle_manager_navigation]: Configuring behavior_server
[behavior_server-4] [INFO] [1734562876.253177011] [behavior_server]: Configuring
[behavior_server-4] [INFO] [1734562876.254223169] [behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin
[behavior_server-4] [INFO] [1734562876.255599000] [behavior_server]: Configuring spin
[behavior_server-4] [INFO] [1734562876.256358013] [behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp
[behavior_server-4] [INFO] [1734562876.257641884] [behavior_server]: Configuring backup
[behavior_server-4] [INFO] [1734562876.258196165] [behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading
[behavior_server-4] [INFO] [1734562876.259511734] [behavior_server]: Configuring drive_on_heading
[behavior_server-4] [INFO] [1734562876.260119005] [behavior_server]: Creating behavior plugin assisted_teleop of type nav2_behaviors/AssistedTeleop
[behavior_server-4] [INFO] [1734562876.262419909] [behavior_server]: Configuring assisted_teleop
[behavior_server-4] [INFO] [1734562876.263199590] [behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait
[behavior_server-4] [INFO] [1734562876.264413340] [behavior_server]: Configuring wait
[lifecycle_manager-8] [INFO] [1734562876.265077176] [lifecycle_manager_navigation]: Configuring bt_navigator
[bt_navigator-5] [INFO] [1734562876.265147927] [bt_navigator]: Configuring
[lifecycle_manager-8] [INFO] [1734562876.294061616] [lifecycle_manager_navigation]: Configuring waypoint_follower
[waypoint_follower-6] [INFO] [1734562876.294140202] [waypoint_follower]: Configuring
[waypoint_follower-6] [INFO] [1734562876.296050148] [waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint
[lifecycle_manager-8] [INFO] [1734562876.296274545] [lifecycle_manager_navigation]: Configuring velocity_smoother
[velocity_smoother-7] [INFO] [1734562876.296382546] [velocity_smoother]: Configuring velocity smoother
[lifecycle_manager-8] [INFO] [1734562876.297038838] [lifecycle_manager_navigation]: Activating controller_server
[controller_server-1] [INFO] [1734562876.297097497] [controller_server]: Activating
[controller_server-1] [INFO] [1734562876.297114659] [local_costmap.local_costmap]: Activating
[controller_server-1] [INFO] [1734562876.297120831] [local_costmap.local_costmap]: Checking transform
[controller_server-1] [INFO] [1734562876.297133014] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-1] [INFO] [1734562876.797197712] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
The text was updated successfully, but these errors were encountered: