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Re: [ros-users] Ros 2d_nav example problem

Anh Tran-3
Hello all,

A few of our demos also broke recently with the same warning/error.
The demos are based on the erratic 2dnav examples.  I've tried all the
suggestions from this thread without success.

I've also noticed that the erratic_2dnav_demo.launch in erratic_gazebo
is also broken for me.  Any ideas?

Cheers,
Anh Tran



On Wed, Dec 23, 2009 at 2:03 AM, Markus Eich <[hidden email]> wrote:

> Finally :-)
>
> That did do the job.
>
> In my launch file I hade the static conversion already loaded, but with
> wrong parameters. I have taken it originally from the erratic 2DNav
> sample, where it read
>
> node pkg="tf" type="transform_sender" name="base_laser_to_base_link"
> args="0.03 0 0.27 0 0 0 base_laser_link base_link_offset 40" />
>
> so it did a conversion between base_laser_link and base_link_offset, but
> not base_link.
>
> Finally we have a roaming pioneer.
>
> Merry Christmas ;-)
>
>
>
>
> Am Dienstag, den 22.12.2009, 09:08 -0800 schrieb Brian Gerkey:
>> hi Markus,
>>
>> It looks like amcl is unable to transform from base_laser to odom.
>>
>> These messages:
>>
>> > ===
>> > Node: /amcl
>> > Time: 1261407210.124731000
>> > Severity: Debug
>> > Location: /home/eich/ros/pkgs/geometry/tf/include/tf/
>> > message_filter.h:MessageFilter<M>::add:271
>> > Published Topics: /rosout, /tf, /amcl_pose, /particlecloud
>> >
>> > MessageFilter [target=/odom ]: Added message in frame base_laser at
>> > time
>> > 1261407209.908, count now 16
>>
>> show that laser scan messages are stacking up inside amcl's
>> MessageFilter, which is used to hold messages until they're ready to
>> be transformed.  In normal operation, the number of messages in that
>> filter should be 1 or 2, and you're up to 16 here.
>>
>> Try tf_echo while everything is running:
>>
>> rosrun tf tf_echo base_laser odom
>>
>> You should see something like:
>>
>> At time 114.600
>> - Translation: [-8.240, 17.703, -0.150]
>> - Rotation: in Quaternion [0.000, 0.000, 0.777, 0.629]
>>              in RPY [0.000, -0.000, 1.780]
>> At time 115.600
>> - Translation: [-8.740, 17.703, -0.150]
>> - Rotation: in Quaternion [0.000, 0.000, 0.777, 0.629]
>>              in RPY [0.000, -0.000, 1.780]
>> At time 116.500
>> - Translation: [-9.190, 17.703, -0.150]
>> - Rotation: in Quaternion [0.000, 0.000, 0.777, 0.629]
>>              in RPY [0.000, -0.000, 1.780]
>>
>> The common tf tree is: map<-odom<-base_link<-base_laser.  Assuming
>> that the create driver is doing what it needs to do by publishing the
>> odom<-base_link frame, I would guess that you're missing the
>> base_link<-base_laser frame.  That frame is usually published by a tf/
>> static_transform_publisher (http://www.ros.org/wiki/tf/static_transform_sender
>> ).  E.g., in a launch file, if your laser is mounted 5cm forward of
>> the odometric origin of the robot:
>>
>> <node pkg="tf" type="static_transform_publisher"
>> name="base_laser_to_base_link" args="0.05 0 0 0 0 0 base_link
>> base_laser 40" />
>>
>>       brian.
>>
>> On Dec 21, 2009, at 6:58 AM, Markus Eich wrote:
>>
>> > Hi Brian,
>> >
>> >
>> > I had a look at the rx console output:
>> >
>> >
>> > Node: /move_base
>> > Time: 1261407205.854253000
>> > Severity: Info
>> > Location: /home/eich/ros/pkgs/navigation/costmap_2d/src/
>> > costmap_2d_ros.cpp:Costmap2DROS::Costmap2DROS:68
>> > Published Topics: /rosout, /cmd_vel, /current_goal, /move_base/goal
>> > Subscribed to Topics: laser_scan_sensor
>> >
>> > ===
>> > Node: /amcl
>> > Time: 1261407206.921462000
>> > Severity: Warn
>> > Location: /home/eich/ros/pkgs/geometry/tf/include/tf/
>> > message_filter.h:MessageFilter<M>::testMessage:333
>> > Published Topics: /rosout, /tf, /amcl_pose, /particlecloud
>> >
>> > Message from [/base_laser] has a non-fully-qualified frame_id
>> > [base_laser]. Resolved locally to [/base_laser].  This is will likely
>> > not work in multi-robot systems.  This message will only print once.
>> > ===
>> > Node: /amcl
>> > Time: 1261407210.124731000
>> > Severity: Debug
>> > Location: /home/eich/ros/pkgs/geometry/tf/include/tf/
>> > message_filter.h:MessageFilter<M>::add:271
>> > Published Topics: /rosout, /tf, /amcl_pose, /particlecloud
>> >
>> > MessageFilter [target=/odom ]: Added message in frame base_laser at
>> > time
>> > 1261407209.908, count now 16
>> > ===
>> > Node: /amcl
>> > Time: 1261407210.765248000
>> > Severity: Debug
>> > Location: /home/eich/ros/pkgs/geometry/tf/include/tf/
>> > message_filter.h:MessageFilter<M>::add:271
>> > Published Topics: /rosout, /tf, /amcl_pose, /particlecloud
>> >
>> > MessageFilter [target=/odom ]: Added message in frame base_laser at
>> > time
>> > 1261407210.549, count now 19
>> > ==
>> > Node: /move_base
>> > Time: 1261407210.914109000
>> > Severity: Warn
>> > Location: /home/eich/ros/pkgs/navigation/costmap_2d/src/
>> > costmap_2d_ros.cpp:Costmap2DROS::Costmap2DROS:83
>> > Published Topics: /rosout, /cmd_vel, /current_goal, /move_base/goal
>> >
>> > Waiting on transform from base_link to /map to become available before
>> > running costmap, tf error: Frame id /map does not exist!
>> >
>> >
>> >
>> >
>> >
>> >
>> >
>> >
>> >
>> >
>> >
>> > schrieb Brian Gerkey:
>> >> hi Markus,
>> >>
>> >> Try turning up the debug level on amcl.  One way to do this is to add
>> >> a line to $ROS_ROOT/config/rosconsole.config:
>> >>  log4j.logger.ros.amcl=DEBUG
>> >> Another way is to run rxloggerlevel after amcl is up, and configure
>> >> logging from there.
>> >>
>> >> I'd expect amcl, at the DEBUG level, to produce rosconsole output
>> >> like
>> >> this (repeated periodically):
>> >>
>> >> [DEBUG] 57.997396992: MessageFilter [target=/odom ]: Added message in
>> >> frame base_laser at time 58.200, count now 1
>> >> [DEBUG] 58.098519040: MessageFilter [target=/odom ]: Message ready in
>> >> frame base_laser at time 58.200, count now 1
>> >> [DEBUG] 58.098519040: MessageFilter [target=/odom ]: Added message in
>> >> frame base_laser at time 58.300, count now 1
>> >> [DEBUG] 58.198586880: MessageFilter [target=/odom ]: Message ready in
>> >> frame base_laser at time 58.300, count now 1
>> >> [DEBUG] 58.198586880: MessageFilter [target=/odom ]: Added message in
>> >> frame base_laser at time 58.400, count now 1
>> >> [DEBUG] 58.298733056: MessageFilter [target=/odom ]: Message ready in
>> >> frame base_laser at time 58.400, count now 1
>> >> [DEBUG] 58.298733056: MessageFilter [target=/odom ]: Message ready in
>> >> frame base_laser at time 58.500, count now 0
>> >> [DEBUG] 58.398809856: MessageFilter [target=/odom ]: Message ready in
>> >> frame base_laser at time 58.600, count now 0
>> >> [DEBUG] 58.499089920: Num samples: 501
>> >>
>> >> [DEBUG] 58.499089920: Max weight pose: 50.892 25.665 1.545
>> >> [DEBUG] 58.499089920: New pose: 50.892 25.665  1.545
>> >>
>> >>    brian.
>> >>
>> >>
>> >> On Dec 18, 2009, at 11:51 AM, Eitan Marder-Eppstein wrote:
>> >>
>> >>> Markus,
>> >>>
>> >>> Strange, besides missing the map transform, everything about your
>> >>> node structure seems OK. A few things that would help in figuring
>> >>> out what's going on:
>> >>>
>> >>> 1) When you run rxconsole, what warnings/errors... if any... do you
>> >>> see from AMCL or the map_server.
>> >>>
>> >>> 2) Can you verify that scans are coming in on the "scan" topic:
>> >>> "rostopic echo scan"
>> >>>
>> >>> My two hunches are that either AMCL is not getting the map from the
>> >>> map_server correctly (make sure that $(find dfki_maps)/willow-
>> >>> full-0.05.
>> >>> pgm exists), or that the laser isn't actually publishing any data.
>> >>>
>> >>> Let me know if that helps at all... we'll track it down eventually,
>> >>>
>> >>> Eitan
>> >>>
>> >>> On Fri, Dec 18, 2009 at 6:45 AM, Jeff Rousseau
>> >>> <[hidden email]> wrote:
>> >>> Markus,
>> >>>
>> >>> I just got mine to work by adding args="scan:=base_scan" to the amcl
>> >>> node in my launch file, because it was trying to connect to /scan
>> >>> instead of /base_scan (where my laser data actually was)
>> >>>
>> >>> hope this helps,
>> >>> Jeff
>> >>>
>> >>> Markus Eich wrote:
>> >>>> Dear Eitan,
>> >>>>
>> >>>> I checked the tf graph as well as the node structure.
>> >>>>
>> >>>> I attached the two files for further analysis.
>> >>>>
>> >>>> The laser is providing the topic to amcl. The same is true for the
>> >>> odom
>> >>>> message of the pioneer base.
>> >>>>
>> >>>> I filled the config files for amcl as described in the tutorial.
>> >>>>
>> >>>> For TF conversion i used the two nodes for static transform in the
>> >>>> launch file:
>> >>>>
>> >>>> <node pkg="tf" type="transform_sender"
>> >>> name="base_laser_to_base_link"
>> >>>> args="0.03 0 0.27 0 0 0 base_laser_link base_link_offset 40" />
>> >>>>  <node pkg="tf" type="transform_sender"
>> >>>> name="base_footprint_to_base_link" args="0 0 0 0 0 0 base_footprint
>> >>>> base_link 40" />
>> >>>>
>> >>>>
>> >>>> Still the acml node doesn't provide the /map conversion. Any other
>> >>>> ideas?
>> >>>>
>> >>>>
>> >>>> Thank you for your support.
>> >>>>
>> >>>> /Markus
>> >>>>
>> >>>>
>> >>>>
>> >>>>
>> >>>>
>> >>>>
>> >>>>
>> >>>> Am Donnerstag, den 17.12.2009, 10:14 -0800 schrieb Eitan
>> >>>> Marder-Eppstein:
>> >>>>
>> >>>>> Markus and Jeff,
>> >>>>>
>> >>>>> AMCL should provide the transform between the map and odometric
>> >>>>> frames. There are a few reasons I can think of that this might
>> >>> not be
>> >>>>> happening:
>> >>>>>
>> >>>>> 1) The pioneer driver is not publishing and odometric frame over
>> >>> tf.
>> >>>>> See the following tutorial for information on this:
>> >>>>> http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/Odom
>> >>>>>
>> >>>>> 2) ACML is not pointed at the right odometry frame_id. See the
>> >>>>> "odom_frame_id" parameter documented here:
>> >>>>> http://www.ros.org/wiki/amcl#Odometery_model_parameters
>> >>>>>
>> >>>>> 3) AMCL is not getting laser data, make sure that it is set to
>> >>> listen
>> >>>>> to the right topic.
>> >>>>>
>> >>>>> 4) Something is wrong with the hierarchy of your tf tree. A useful
>> >>>>> tool for viewing the tree being published is the "view_frames"
>> >>>>> tool
>> >>>>> provided by tf:  rosrun tf view_frames
>> >>>>>
>> >>>>> Additionally, you may find the following tutorial helpful:
>> >>>>> http://www.ros.org/wiki/navigation/Tutorials/RobotSetup
>> >>>>>
>> >>>>> Hopefully, this helps, let me know if you still have trouble,
>> >>>>>
>> >>>>> Eitan
>> >>>>>
>> >>>>>
>> >>>>> On Thu, Dec 17, 2009 at 7:53 AM, Jeff Rousseau <[hidden email]
>> >>>>
>> >>>>> wrote:
>> >>>>>        I've just run into this error myself.  Should amcl (or some
>> >>>>>        other pkg) be providing a map frame transform, or are we
>> >>>>>        expected to provide a static transform for the maps
>> >>> ourselves?
>> >>>>>
>> >>>>>        [ WARN] 1261048874.431064000: Waiting on transform from
>> >>>>>        base_link
>> >>>>>        to /map to become available before running costmap, tf
>> >>> error:
>> >>>>>        Frame
>> >>>>>        id /map does not exist!
>> >>>>>
>> >>>>>
>> >>>>>
>> >>>>>
>> >>>>>
>> >>>>>        Markus Eich wrote:
>> >>>>>> Dear all,
>> >>>>>>
>> >>>>>>
>> >>>>>> I set up the demo example as described ion the tutorial
>> >>>>>        2D_NAV_STACK.
>> >>>>>>
>> >>>>>> Instead of using the erratic robot, we use a Pioneer,
>> >>> so I
>> >>>>>        adapted the
>> >>>>>> driver to run with player (works fine).
>> >>>>>>
>> >>>>>> I used the following launch files
>> >>>>>>
>> >>>>>> =Hardware  =======================================
>> >>>>>>
>> >>>>>> <launch>
>> >>>>>>  <node pkg="sicktoolbox_wrapper" type="sicklms"
>> >>>>>        name="base_laser"
>> >>>>>> output="screen">
>> >>>>>>      <param name="port" value="/dev/ttyS0" />
>> >>>>>>      <param name="baud" value="38400" />
>> >>>>>>  </node>
>> >>>>>>
>> >>>>>>  <node pkg="pioneer" type="pioneer_player"
>> >>>>>        name="pioneer_base"
>> >>>>>> output="screen"/>
>> >>>>>>
>> >>>>>>  <node pkg="tf" type="transform_sender"
>> >>>>>        name="base_laser_to_base_link"
>> >>>>>> args="0.03 0 0.27 0 0 0 base_laser_link base_link_offset
>> >>>>>        40" />
>> >>>>>>
>> >>>>>>  <node pkg="tf" type="transform_sender"
>> >>>>>> name="base_footprint_to_base_link" args="0 0 0 0 0 0
>> >>>>>        base_footprint
>> >>>>>> base_link 40" />
>> >>>>>>
>> >>>>>>
>> >>>>>> </launch>
>> >>>>>> =========================================================
>> >>>>>>
>> >>>>>> ===Move Base
>> >>> ==============================================
>> >>>>>> <launch>
>> >>>>>>  <master auto="start"/>
>> >>>>>>
>> >>>>>>  <!-- Run the map server -->
>> >>>>>>  <node name="map_server" pkg="map_server"
>> >>> type="map_server"
>> >>>>>> args="$(find dfki_maps)/willow-full-0.05.pgm 0.05"/>
>> >>>>>>
>> >>>>>>  <!--- Run AMCL -->
>> >>>>>>  <include file="$(find amcl)/examples/
>> >>> amcl_diff.launch" />
>> >>>>>>
>> >>>>>>  <node pkg="move_base" type="move_base" respawn="false"
>> >>>>>> name="move_base" output="screen">
>> >>>>>>    <rosparam file="$(find
>> >>>>>> 2dnav_pioneer)/config/costmap_common_params.yaml"
>> >>>>>        command="load"
>> >>>>>> ns="global_costmap" />
>> >>>>>>    <rosparam file="$(find
>> >>>>>> 2dnav_pioneer)/config/costmap_common_params.yaml"
>> >>>>>        command="load"
>> >>>>>> ns="local_costmap" />
>> >>>>>>    <rosparam file="$(find
>> >>>>>> 2dnav_pioneer)/config/local_costmap_params.yaml"
>> >>>>>        command="load" />
>> >>>>>>    <rosparam file="$(find
>> >>>>>> 2dnav_pioneer)/config/global_costmap_params.yaml"
>> >>>>>        command="load" />
>> >>>>>>    <rosparam file="$(find
>> >>>>>> 2dnav_pioneer)/config/base_local_planner_params.yaml"
>> >>>>>        command="load" />
>> >>>>>>  </node>
>> >>>>>> </launch>
>> >>>>>>
>> >>>>>>
>> >>>>>
>> >>> ==================================================================
>> >>>>>>
>> >>>>>> There seems to be a problem with tf, because of the
>> >>> error:
>> >>>>>>
>> >>>>>> ==
>> >>>>>> [ WARN] 1261048874.431064000: Waiting on transform from
>> >>>>>        base_link
>> >>>>>> to /map to become available before running costmap, tf
>> >>>>>        error: Frame
>> >>>>>> id /map does not exist!
>> >>>>>> ==
>> >>>>>>
>> >>>>>> How can I tackle this problem?
>> >>>>>>
>> >>>>>> Thank you for your help.
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>> Markus
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>
>> >>>>>
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>> >
>> > --
>> > Dipl. Inf. Markus Eich
>> > Researcher
>> > Bereich Logistik
>> >
>> > DFKI Bremen
>> > Robotics Innovation Center
>> > Robert-Hooke-Straße 5
>> > 28359 Bremen, Germany
>> >
>> > Phone: +49 (0)421 218-64100
>> > Fax:   +49 (0)421 218-64150
>> > E-Mail: [hidden email]
>> >
>> > Weitere Informationen: http://www.dfki.de/robotik
>> > -----------------------------------------------------------------------
>> > Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
>> > Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
>> > Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
>> > (Vorsitzender) Dr. Walter Olthoff
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>> > Amtsgericht Kaiserslautern, HRB 2313
>> > Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
>> > USt-Id.Nr.:    DE 148646973
>> > Steuernummer:  19/673/0060/3
>> > -----------------------------------------------------------------------
>> >
>>
>
>
> --
> Dipl. Inf. Markus Eich
> Researcher
> Bereich Logistik
>
> DFKI Bremen
> Robotics Innovation Center
> Robert-Hooke-Straße 5
> 28359 Bremen, Germany
>
> Phone: +49 (0)421 218-64100
> Fax:   +49 (0)421 218-64150
> E-Mail: [hidden email]
>
> Weitere Informationen: http://www.dfki.de/robotik
> -----------------------------------------------------------------------
> Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
> Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
> Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
> (Vorsitzender) Dr. Walter Olthoff
> Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
> Amtsgericht Kaiserslautern, HRB 2313
> Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
> USt-Id.Nr.:    DE 148646973
> Steuernummer:  19/673/0060/3
> -----------------------------------------------------------------------
>
>
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Re: [ros-users] Ros 2d_nav example problem

Anh Tran-3
Asides from this warning, I also see several dependency warnings
whenever I launch anything related to 2dnav.  All having to do with
'webbags'.

[rospack] warning: couldn't find dependency [webbags] of [bagproc_diagnostics]
[rospack] warning: couldn't find dependency [webbags] of [bagproc_video]
[rospack] warning: couldn't find dependency [webbags] of [bagproc_thumbnails]

I am not sure if this has anything to do with the problem?  Thanks.

Cheers,
Anh Tran



On Wed, Jan 20, 2010 at 4:50 PM, Anh Tran <[hidden email]> wrote:

> Hello all,
>
> A few of our demos also broke recently with the same warning/error.
> The demos are based on the erratic 2dnav examples.  I've tried all the
> suggestions from this thread without success.
>
> I've also noticed that the erratic_2dnav_demo.launch in erratic_gazebo
> is also broken for me.  Any ideas?
>
> Cheers,
> Anh Tran
>
>
>
> On Wed, Dec 23, 2009 at 2:03 AM, Markus Eich <[hidden email]> wrote:
>> Finally :-)
>>
>> That did do the job.
>>
>> In my launch file I hade the static conversion already loaded, but with
>> wrong parameters. I have taken it originally from the erratic 2DNav
>> sample, where it read
>>
>> node pkg="tf" type="transform_sender" name="base_laser_to_base_link"
>> args="0.03 0 0.27 0 0 0 base_laser_link base_link_offset 40" />
>>
>> so it did a conversion between base_laser_link and base_link_offset, but
>> not base_link.
>>
>> Finally we have a roaming pioneer.
>>
>> Merry Christmas ;-)
>>
>>
>>
>>
>> Am Dienstag, den 22.12.2009, 09:08 -0800 schrieb Brian Gerkey:
>>> hi Markus,
>>>
>>> It looks like amcl is unable to transform from base_laser to odom.
>>>
>>> These messages:
>>>
>>> > ===
>>> > Node: /amcl
>>> > Time: 1261407210.124731000
>>> > Severity: Debug
>>> > Location: /home/eich/ros/pkgs/geometry/tf/include/tf/
>>> > message_filter.h:MessageFilter<M>::add:271
>>> > Published Topics: /rosout, /tf, /amcl_pose, /particlecloud
>>> >
>>> > MessageFilter [target=/odom ]: Added message in frame base_laser at
>>> > time
>>> > 1261407209.908, count now 16
>>>
>>> show that laser scan messages are stacking up inside amcl's
>>> MessageFilter, which is used to hold messages until they're ready to
>>> be transformed.  In normal operation, the number of messages in that
>>> filter should be 1 or 2, and you're up to 16 here.
>>>
>>> Try tf_echo while everything is running:
>>>
>>> rosrun tf tf_echo base_laser odom
>>>
>>> You should see something like:
>>>
>>> At time 114.600
>>> - Translation: [-8.240, 17.703, -0.150]
>>> - Rotation: in Quaternion [0.000, 0.000, 0.777, 0.629]
>>>              in RPY [0.000, -0.000, 1.780]
>>> At time 115.600
>>> - Translation: [-8.740, 17.703, -0.150]
>>> - Rotation: in Quaternion [0.000, 0.000, 0.777, 0.629]
>>>              in RPY [0.000, -0.000, 1.780]
>>> At time 116.500
>>> - Translation: [-9.190, 17.703, -0.150]
>>> - Rotation: in Quaternion [0.000, 0.000, 0.777, 0.629]
>>>              in RPY [0.000, -0.000, 1.780]
>>>
>>> The common tf tree is: map<-odom<-base_link<-base_laser.  Assuming
>>> that the create driver is doing what it needs to do by publishing the
>>> odom<-base_link frame, I would guess that you're missing the
>>> base_link<-base_laser frame.  That frame is usually published by a tf/
>>> static_transform_publisher (http://www.ros.org/wiki/tf/static_transform_sender
>>> ).  E.g., in a launch file, if your laser is mounted 5cm forward of
>>> the odometric origin of the robot:
>>>
>>> <node pkg="tf" type="static_transform_publisher"
>>> name="base_laser_to_base_link" args="0.05 0 0 0 0 0 base_link
>>> base_laser 40" />
>>>
>>>       brian.
>>>
>>> On Dec 21, 2009, at 6:58 AM, Markus Eich wrote:
>>>
>>> > Hi Brian,
>>> >
>>> >
>>> > I had a look at the rx console output:
>>> >
>>> >
>>> > Node: /move_base
>>> > Time: 1261407205.854253000
>>> > Severity: Info
>>> > Location: /home/eich/ros/pkgs/navigation/costmap_2d/src/
>>> > costmap_2d_ros.cpp:Costmap2DROS::Costmap2DROS:68
>>> > Published Topics: /rosout, /cmd_vel, /current_goal, /move_base/goal
>>> > Subscribed to Topics: laser_scan_sensor
>>> >
>>> > ===
>>> > Node: /amcl
>>> > Time: 1261407206.921462000
>>> > Severity: Warn
>>> > Location: /home/eich/ros/pkgs/geometry/tf/include/tf/
>>> > message_filter.h:MessageFilter<M>::testMessage:333
>>> > Published Topics: /rosout, /tf, /amcl_pose, /particlecloud
>>> >
>>> > Message from [/base_laser] has a non-fully-qualified frame_id
>>> > [base_laser]. Resolved locally to [/base_laser].  This is will likely
>>> > not work in multi-robot systems.  This message will only print once.
>>> > ===
>>> > Node: /amcl
>>> > Time: 1261407210.124731000
>>> > Severity: Debug
>>> > Location: /home/eich/ros/pkgs/geometry/tf/include/tf/
>>> > message_filter.h:MessageFilter<M>::add:271
>>> > Published Topics: /rosout, /tf, /amcl_pose, /particlecloud
>>> >
>>> > MessageFilter [target=/odom ]: Added message in frame base_laser at
>>> > time
>>> > 1261407209.908, count now 16
>>> > ===
>>> > Node: /amcl
>>> > Time: 1261407210.765248000
>>> > Severity: Debug
>>> > Location: /home/eich/ros/pkgs/geometry/tf/include/tf/
>>> > message_filter.h:MessageFilter<M>::add:271
>>> > Published Topics: /rosout, /tf, /amcl_pose, /particlecloud
>>> >
>>> > MessageFilter [target=/odom ]: Added message in frame base_laser at
>>> > time
>>> > 1261407210.549, count now 19
>>> > ==
>>> > Node: /move_base
>>> > Time: 1261407210.914109000
>>> > Severity: Warn
>>> > Location: /home/eich/ros/pkgs/navigation/costmap_2d/src/
>>> > costmap_2d_ros.cpp:Costmap2DROS::Costmap2DROS:83
>>> > Published Topics: /rosout, /cmd_vel, /current_goal, /move_base/goal
>>> >
>>> > Waiting on transform from base_link to /map to become available before
>>> > running costmap, tf error: Frame id /map does not exist!
>>> >
>>> >
>>> >
>>> >
>>> >
>>> >
>>> >
>>> >
>>> >
>>> >
>>> >
>>> > schrieb Brian Gerkey:
>>> >> hi Markus,
>>> >>
>>> >> Try turning up the debug level on amcl.  One way to do this is to add
>>> >> a line to $ROS_ROOT/config/rosconsole.config:
>>> >>  log4j.logger.ros.amcl=DEBUG
>>> >> Another way is to run rxloggerlevel after amcl is up, and configure
>>> >> logging from there.
>>> >>
>>> >> I'd expect amcl, at the DEBUG level, to produce rosconsole output
>>> >> like
>>> >> this (repeated periodically):
>>> >>
>>> >> [DEBUG] 57.997396992: MessageFilter [target=/odom ]: Added message in
>>> >> frame base_laser at time 58.200, count now 1
>>> >> [DEBUG] 58.098519040: MessageFilter [target=/odom ]: Message ready in
>>> >> frame base_laser at time 58.200, count now 1
>>> >> [DEBUG] 58.098519040: MessageFilter [target=/odom ]: Added message in
>>> >> frame base_laser at time 58.300, count now 1
>>> >> [DEBUG] 58.198586880: MessageFilter [target=/odom ]: Message ready in
>>> >> frame base_laser at time 58.300, count now 1
>>> >> [DEBUG] 58.198586880: MessageFilter [target=/odom ]: Added message in
>>> >> frame base_laser at time 58.400, count now 1
>>> >> [DEBUG] 58.298733056: MessageFilter [target=/odom ]: Message ready in
>>> >> frame base_laser at time 58.400, count now 1
>>> >> [DEBUG] 58.298733056: MessageFilter [target=/odom ]: Message ready in
>>> >> frame base_laser at time 58.500, count now 0
>>> >> [DEBUG] 58.398809856: MessageFilter [target=/odom ]: Message ready in
>>> >> frame base_laser at time 58.600, count now 0
>>> >> [DEBUG] 58.499089920: Num samples: 501
>>> >>
>>> >> [DEBUG] 58.499089920: Max weight pose: 50.892 25.665 1.545
>>> >> [DEBUG] 58.499089920: New pose: 50.892 25.665  1.545
>>> >>
>>> >>    brian.
>>> >>
>>> >>
>>> >> On Dec 18, 2009, at 11:51 AM, Eitan Marder-Eppstein wrote:
>>> >>
>>> >>> Markus,
>>> >>>
>>> >>> Strange, besides missing the map transform, everything about your
>>> >>> node structure seems OK. A few things that would help in figuring
>>> >>> out what's going on:
>>> >>>
>>> >>> 1) When you run rxconsole, what warnings/errors... if any... do you
>>> >>> see from AMCL or the map_server.
>>> >>>
>>> >>> 2) Can you verify that scans are coming in on the "scan" topic:
>>> >>> "rostopic echo scan"
>>> >>>
>>> >>> My two hunches are that either AMCL is not getting the map from the
>>> >>> map_server correctly (make sure that $(find dfki_maps)/willow-
>>> >>> full-0.05.
>>> >>> pgm exists), or that the laser isn't actually publishing any data.
>>> >>>
>>> >>> Let me know if that helps at all... we'll track it down eventually,
>>> >>>
>>> >>> Eitan
>>> >>>
>>> >>> On Fri, Dec 18, 2009 at 6:45 AM, Jeff Rousseau
>>> >>> <[hidden email]> wrote:
>>> >>> Markus,
>>> >>>
>>> >>> I just got mine to work by adding args="scan:=base_scan" to the amcl
>>> >>> node in my launch file, because it was trying to connect to /scan
>>> >>> instead of /base_scan (where my laser data actually was)
>>> >>>
>>> >>> hope this helps,
>>> >>> Jeff
>>> >>>
>>> >>> Markus Eich wrote:
>>> >>>> Dear Eitan,
>>> >>>>
>>> >>>> I checked the tf graph as well as the node structure.
>>> >>>>
>>> >>>> I attached the two files for further analysis.
>>> >>>>
>>> >>>> The laser is providing the topic to amcl. The same is true for the
>>> >>> odom
>>> >>>> message of the pioneer base.
>>> >>>>
>>> >>>> I filled the config files for amcl as described in the tutorial.
>>> >>>>
>>> >>>> For TF conversion i used the two nodes for static transform in the
>>> >>>> launch file:
>>> >>>>
>>> >>>> <node pkg="tf" type="transform_sender"
>>> >>> name="base_laser_to_base_link"
>>> >>>> args="0.03 0 0.27 0 0 0 base_laser_link base_link_offset 40" />
>>> >>>>  <node pkg="tf" type="transform_sender"
>>> >>>> name="base_footprint_to_base_link" args="0 0 0 0 0 0 base_footprint
>>> >>>> base_link 40" />
>>> >>>>
>>> >>>>
>>> >>>> Still the acml node doesn't provide the /map conversion. Any other
>>> >>>> ideas?
>>> >>>>
>>> >>>>
>>> >>>> Thank you for your support.
>>> >>>>
>>> >>>> /Markus
>>> >>>>
>>> >>>>
>>> >>>>
>>> >>>>
>>> >>>>
>>> >>>>
>>> >>>>
>>> >>>> Am Donnerstag, den 17.12.2009, 10:14 -0800 schrieb Eitan
>>> >>>> Marder-Eppstein:
>>> >>>>
>>> >>>>> Markus and Jeff,
>>> >>>>>
>>> >>>>> AMCL should provide the transform between the map and odometric
>>> >>>>> frames. There are a few reasons I can think of that this might
>>> >>> not be
>>> >>>>> happening:
>>> >>>>>
>>> >>>>> 1) The pioneer driver is not publishing and odometric frame over
>>> >>> tf.
>>> >>>>> See the following tutorial for information on this:
>>> >>>>> http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/Odom
>>> >>>>>
>>> >>>>> 2) ACML is not pointed at the right odometry frame_id. See the
>>> >>>>> "odom_frame_id" parameter documented here:
>>> >>>>> http://www.ros.org/wiki/amcl#Odometery_model_parameters
>>> >>>>>
>>> >>>>> 3) AMCL is not getting laser data, make sure that it is set to
>>> >>> listen
>>> >>>>> to the right topic.
>>> >>>>>
>>> >>>>> 4) Something is wrong with the hierarchy of your tf tree. A useful
>>> >>>>> tool for viewing the tree being published is the "view_frames"
>>> >>>>> tool
>>> >>>>> provided by tf:  rosrun tf view_frames
>>> >>>>>
>>> >>>>> Additionally, you may find the following tutorial helpful:
>>> >>>>> http://www.ros.org/wiki/navigation/Tutorials/RobotSetup
>>> >>>>>
>>> >>>>> Hopefully, this helps, let me know if you still have trouble,
>>> >>>>>
>>> >>>>> Eitan
>>> >>>>>
>>> >>>>>
>>> >>>>> On Thu, Dec 17, 2009 at 7:53 AM, Jeff Rousseau <[hidden email]
>>> >>>>
>>> >>>>> wrote:
>>> >>>>>        I've just run into this error myself.  Should amcl (or some
>>> >>>>>        other pkg) be providing a map frame transform, or are we
>>> >>>>>        expected to provide a static transform for the maps
>>> >>> ourselves?
>>> >>>>>
>>> >>>>>        [ WARN] 1261048874.431064000: Waiting on transform from
>>> >>>>>        base_link
>>> >>>>>        to /map to become available before running costmap, tf
>>> >>> error:
>>> >>>>>        Frame
>>> >>>>>        id /map does not exist!
>>> >>>>>
>>> >>>>>
>>> >>>>>
>>> >>>>>
>>> >>>>>
>>> >>>>>        Markus Eich wrote:
>>> >>>>>> Dear all,
>>> >>>>>>
>>> >>>>>>
>>> >>>>>> I set up the demo example as described ion the tutorial
>>> >>>>>        2D_NAV_STACK.
>>> >>>>>>
>>> >>>>>> Instead of using the erratic robot, we use a Pioneer,
>>> >>> so I
>>> >>>>>        adapted the
>>> >>>>>> driver to run with player (works fine).
>>> >>>>>>
>>> >>>>>> I used the following launch files
>>> >>>>>>
>>> >>>>>> =Hardware  =======================================
>>> >>>>>>
>>> >>>>>> <launch>
>>> >>>>>>  <node pkg="sicktoolbox_wrapper" type="sicklms"
>>> >>>>>        name="base_laser"
>>> >>>>>> output="screen">
>>> >>>>>>      <param name="port" value="/dev/ttyS0" />
>>> >>>>>>      <param name="baud" value="38400" />
>>> >>>>>>  </node>
>>> >>>>>>
>>> >>>>>>  <node pkg="pioneer" type="pioneer_player"
>>> >>>>>        name="pioneer_base"
>>> >>>>>> output="screen"/>
>>> >>>>>>
>>> >>>>>>  <node pkg="tf" type="transform_sender"
>>> >>>>>        name="base_laser_to_base_link"
>>> >>>>>> args="0.03 0 0.27 0 0 0 base_laser_link base_link_offset
>>> >>>>>        40" />
>>> >>>>>>
>>> >>>>>>  <node pkg="tf" type="transform_sender"
>>> >>>>>> name="base_footprint_to_base_link" args="0 0 0 0 0 0
>>> >>>>>        base_footprint
>>> >>>>>> base_link 40" />
>>> >>>>>>
>>> >>>>>>
>>> >>>>>> </launch>
>>> >>>>>> =========================================================
>>> >>>>>>
>>> >>>>>> ===Move Base
>>> >>> ==============================================
>>> >>>>>> <launch>
>>> >>>>>>  <master auto="start"/>
>>> >>>>>>
>>> >>>>>>  <!-- Run the map server -->
>>> >>>>>>  <node name="map_server" pkg="map_server"
>>> >>> type="map_server"
>>> >>>>>> args="$(find dfki_maps)/willow-full-0.05.pgm 0.05"/>
>>> >>>>>>
>>> >>>>>>  <!--- Run AMCL -->
>>> >>>>>>  <include file="$(find amcl)/examples/
>>> >>> amcl_diff.launch" />
>>> >>>>>>
>>> >>>>>>  <node pkg="move_base" type="move_base" respawn="false"
>>> >>>>>> name="move_base" output="screen">
>>> >>>>>>    <rosparam file="$(find
>>> >>>>>> 2dnav_pioneer)/config/costmap_common_params.yaml"
>>> >>>>>        command="load"
>>> >>>>>> ns="global_costmap" />
>>> >>>>>>    <rosparam file="$(find
>>> >>>>>> 2dnav_pioneer)/config/costmap_common_params.yaml"
>>> >>>>>        command="load"
>>> >>>>>> ns="local_costmap" />
>>> >>>>>>    <rosparam file="$(find
>>> >>>>>> 2dnav_pioneer)/config/local_costmap_params.yaml"
>>> >>>>>        command="load" />
>>> >>>>>>    <rosparam file="$(find
>>> >>>>>> 2dnav_pioneer)/config/global_costmap_params.yaml"
>>> >>>>>        command="load" />
>>> >>>>>>    <rosparam file="$(find
>>> >>>>>> 2dnav_pioneer)/config/base_local_planner_params.yaml"
>>> >>>>>        command="load" />
>>> >>>>>>  </node>
>>> >>>>>> </launch>
>>> >>>>>>
>>> >>>>>>
>>> >>>>>
>>> >>> ==================================================================
>>> >>>>>>
>>> >>>>>> There seems to be a problem with tf, because of the
>>> >>> error:
>>> >>>>>>
>>> >>>>>> ==
>>> >>>>>> [ WARN] 1261048874.431064000: Waiting on transform from
>>> >>>>>        base_link
>>> >>>>>> to /map to become available before running costmap, tf
>>> >>>>>        error: Frame
>>> >>>>>> id /map does not exist!
>>> >>>>>> ==
>>> >>>>>>
>>> >>>>>> How can I tackle this problem?
>>> >>>>>>
>>> >>>>>> Thank you for your help.
>>> >>>>>>
>>> >>>>>>
>>> >>>>>>
>>> >>>>>> Markus
>>> >>>>>>
>>> >>>>>>
>>> >>>>>>
>>> >>>>>>
>>> >>>>>>
>>> >>>>>>
>>> >>>>>>
>>> >>>>>>
>>> >>>>>>
>>> >>>>>>
>>> >>>>>>
>>> >>>>>>
>>> >>>>>>
>>> >>>>>
>>> >>>>>
>>> >>>>>        The information transmitted is intended only for the
>>> >>> person or
>>> >>>>>        entity to which it is addressed and may contain
>>> >>> confidential
>>> >>>>>        and/or privileged material. Any review, retransmission,
>>> >>>>>        dissemination or other use of, or taking of any action in
>>> >>>>>        reliance upon this information by persons or entities other
>>> >>>>>        than the intended recipient is prohibited. If you received
>>> >>>>>        this in error, please contact the sender and delete the
>>> >>>>>        material from any computer.
>>> >>>>>
>>> >>>>>
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>>> >>>>>        _______________________________________________
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>>> >>>>>        [hidden email]
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>>> >>>>>
>>> >>>>>
>>> >>>>>
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>>> >>>>> _______________________________________________ ros-users mailing
>>> >>> list [hidden email] https://lists.sourceforge.net/lists/listinfo/ros-users
>>> >>>>>
>>> >>>>
>>> >>>>
>>> >>>>
>>> >>>>
>>> >>>>
>>> >>> ------------------------------------------------------------------------
>>> >>>>
>>> >>>
>>> >>> The information transmitted is intended only for the person or
>>> >>> entity to which it is addressed and may contain confidential and/or
>>> >>> privileged material. Any review, retransmission, dissemination or
>>> >>> other use of, or taking of any action in reliance upon this
>>> >>> information by persons or entities other than the intended recipient
>>> >>> is prohibited. If you received this in error, please contact the
>>> >>> sender and delete the material from any computer.
>>> >>> ------------------------------------------------------------------------------
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>>> >>> A streamlined, 14 day to market process makes app distribution fast
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>>> >>> Join now and get one step closer to millions of Verizon customers
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>>> >>> _______________________________________________
>>> >>> ros-users mailing list
>>> >>> [hidden email]
>>> >>> https://lists.sourceforge.net/lists/listinfo/ros-users
>>> >>>
>>> >>> ------------------------------------------------------------------------------
>>> >>> This SF.Net email is sponsored by the Verizon Developer Community
>>> >>> Take advantage of Verizon's best-in-class app development support
>>> >>> A streamlined, 14 day to market process makes app distribution fast
>>> >>> and easy
>>> >>> Join now and get one step closer to millions of Verizon customers
>>> >>> http://p.sf.net/sfu/verizon-dev2dev
>>> >>> _______________________________________________
>>> >>> ros-users mailing list
>>> >>> [hidden email]
>>> >>> https://lists.sourceforge.net/lists/listinfo/ros-users
>>> >>
>>> >>
>>> >> ------------------------------------------------------------------------------
>>> >> This SF.Net email is sponsored by the Verizon Developer Community
>>> >> Take advantage of Verizon's best-in-class app development support
>>> >> A streamlined, 14 day to market process makes app distribution fast
>>> >> and easy
>>> >> Join now and get one step closer to millions of Verizon customers
>>> >> http://p.sf.net/sfu/verizon-dev2dev
>>> >> _______________________________________________
>>> >> ros-users mailing list
>>> >> [hidden email]
>>> >> https://lists.sourceforge.net/lists/listinfo/ros-users
>>> >
>>> >
>>> > --
>>> > Dipl. Inf. Markus Eich
>>> > Researcher
>>> > Bereich Logistik
>>> >
>>> > DFKI Bremen
>>> > Robotics Innovation Center
>>> > Robert-Hooke-Straße 5
>>> > 28359 Bremen, Germany
>>> >
>>> > Phone: +49 (0)421 218-64100
>>> > Fax:   +49 (0)421 218-64150
>>> > E-Mail: [hidden email]
>>> >
>>> > Weitere Informationen: http://www.dfki.de/robotik
>>> > -----------------------------------------------------------------------
>>> > Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
>>> > Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
>>> > Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
>>> > (Vorsitzender) Dr. Walter Olthoff
>>> > Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
>>> > Amtsgericht Kaiserslautern, HRB 2313
>>> > Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
>>> > USt-Id.Nr.:    DE 148646973
>>> > Steuernummer:  19/673/0060/3
>>> > -----------------------------------------------------------------------
>>> >
>>>
>>
>>
>> --
>> Dipl. Inf. Markus Eich
>> Researcher
>> Bereich Logistik
>>
>> DFKI Bremen
>> Robotics Innovation Center
>> Robert-Hooke-Straße 5
>> 28359 Bremen, Germany
>>
>> Phone: +49 (0)421 218-64100
>> Fax:   +49 (0)421 218-64150
>> E-Mail: [hidden email]
>>
>> Weitere Informationen: http://www.dfki.de/robotik
>> -----------------------------------------------------------------------
>> Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
>> Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
>> Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
>> (Vorsitzender) Dr. Walter Olthoff
>> Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
>> Amtsgericht Kaiserslautern, HRB 2313
>> Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
>> USt-Id.Nr.:    DE 148646973
>> Steuernummer:  19/673/0060/3
>> -----------------------------------------------------------------------
>>
>>
>> ------------------------------------------------------------------------------
>> This SF.Net email is sponsored by the Verizon Developer Community
>> Take advantage of Verizon's best-in-class app development support
>> A streamlined, 14 day to market process makes app distribution fast and easy
>> Join now and get one step closer to millions of Verizon customers
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>> _______________________________________________
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>>
>

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Re: [ros-users] Ros 2d_nav example problem

Brian Gerkey
On Thu, Jan 21, 2010 at 12:24 PM, Anh Tran <[hidden email]> wrote:
> Asides from this warning, I also see several dependency warnings
> whenever I launch anything related to 2dnav.  All having to do with
> 'webbags'.
>
> [rospack] warning: couldn't find dependency [webbags] of [bagproc_diagnostics]
> [rospack] warning: couldn't find dependency [webbags] of [bagproc_video]
> [rospack] warning: couldn't find dependency [webbags] of [bagproc_thumbnails]

That's harmless.  But it's also annoying, so I just commented out the
webbags dependencies in those packages (they're already blacklisted).
I'll revisit rospack's warning behavior at some point to try to make
it less annoying.

        brian.

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Re: [ros-users] Ros 2d_nav example problem

Anh Tran-3
Thanks for quick feedback Brian.  I'm trying to figure out what could
be causing the problem that was talked about in this thread for our
erratic 2dnav:

[ WARN] 1261048874.431064000: Waiting on transform from base_link
to /map to become available before running costmap, tf error: Frame
id /map does not exist!

Our code is based on the erratic_2dnav_demo.launch in the
erratic_gazebo pkg, which also exhibits the same symptom at the
moment.  Things were working fine at one point, until this warning
showed up.  I have tried all the suggestions in this email thread.
Does anyone have any idea what the problem might be?  Any suggestions
will be greatly appreciated.

Thanks.


Cheers,
Anh Tran



On Thu, Jan 21, 2010 at 1:38 PM, Brian Gerkey <[hidden email]> wrote:

> On Thu, Jan 21, 2010 at 12:24 PM, Anh Tran <[hidden email]> wrote:
>> Asides from this warning, I also see several dependency warnings
>> whenever I launch anything related to 2dnav.  All having to do with
>> 'webbags'.
>>
>> [rospack] warning: couldn't find dependency [webbags] of [bagproc_diagnostics]
>> [rospack] warning: couldn't find dependency [webbags] of [bagproc_video]
>> [rospack] warning: couldn't find dependency [webbags] of [bagproc_thumbnails]
>
> That's harmless.  But it's also annoying, so I just commented out the
> webbags dependencies in those packages (they're already blacklisted).
> I'll revisit rospack's warning behavior at some point to try to make
> it less annoying.
>
>        brian.
>
> ------------------------------------------------------------------------------
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> world's best and brightest in the field, creating opportunities for Conference
> attendees to learn about information security's most important issues through
> interactions with peers, luminaries and emerging and established companies.
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Re: [ros-users] Ros 2d_nav example problem

John Hsu

Hi Anh,

With help from Tully, fixed in r29818.  It was a bug introduced when we flipped base_footprint and base_link frames.  Sorry about that...

John

On Jan 21, 2010 1:37 PM, "Anh Tran" <[hidden email]> wrote:

Thanks for quick feedback Brian.  I'm trying to figure out what could
be causing the problem that was talked about in this thread for our
erratic 2dnav:

[ WARN] 1261048874.431064000: Waiting on transform from base_link to /map to become available befor...

Our code is based on the erratic_2dnav_demo.launch in the
erratic_gazebo pkg, which also exhibits the same symptom at the
moment.  Things were working fine at one point, until this warning
showed up.  I have tried all the suggestions in this email thread.
Does anyone have any idea what the problem might be?  Any suggestions
will be greatly appreciated.

Thanks.


Cheers,
Anh Tran

On Thu, Jan 21, 2010 at 1:38 PM, Brian Gerkey <[hidden email]> wrote: > On Thu, Jan 21, 2010 at...


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world's best and brightest in the field, creating opportunities for Conference
attendees to learn about information security's most important issues through
interactions with peers, luminaries and emerging and established companies.
http://p.sf.net/sfu/rsaconf-dev2dev
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Re: [ros-users] Ros 2d_nav example problem

Anh Tran-3
Works great!  Thanks John.

Cheers,
Anh Tran



On Thu, Jan 21, 2010 at 3:48 PM, John Hsu <[hidden email]> wrote:

> Hi Anh,
>
> With help from Tully, fixed in r29818.  It was a bug introduced when we
> flipped base_footprint and base_link frames.  Sorry about that...
>
> John
>
> On Jan 21, 2010 1:37 PM, "Anh Tran" <[hidden email]> wrote:
>
> Thanks for quick feedback Brian.  I'm trying to figure out what could
> be causing the problem that was talked about in this thread for our
> erratic 2dnav:
>
> [ WARN] 1261048874.431064000: Waiting on transform from base_link to /map to
> become available befor...
>
> Our code is based on the erratic_2dnav_demo.launch in the
> erratic_gazebo pkg, which also exhibits the same symptom at the
> moment.  Things were working fine at one point, until this warning
> showed up.  I have tried all the suggestions in this email thread.
> Does anyone have any idea what the problem might be?  Any suggestions
> will be greatly appreciated.
>
> Thanks.
>
>
> Cheers,
> Anh Tran
>
> On Thu, Jan 21, 2010 at 1:38 PM, Brian Gerkey <[hidden email]> wrote: > On
> Thu, Jan 21, 2010 at...
>
> ------------------------------------------------------------------------------
> Throughout its 18-year history, RSA Conference consistently attracts the
> world's best and brightest in the field, creating opportunities for
> Conference
> attendees to learn about information security's most important issues
> through
> interactions with peers, luminaries and emerging and established companies.
> http://p.sf.net/sfu/rsaconf-dev2dev
> _______________________________________________
> ros-users mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/ros-users
>
>

------------------------------------------------------------------------------
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world's best and brightest in the field, creating opportunities for Conference
attendees to learn about information security's most important issues through
interactions with peers, luminaries and emerging and established companies.
http://p.sf.net/sfu/rsaconf-dev2dev
_______________________________________________
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