Problems in simulation

[Mr-Xavier]

Hi, thanks for your projects. I was just trying to test the navigation node in the stage and got error like this:
[ERROR] [1574837186.769389745, 1.000000000]: error transforming the obstacle cloud from base_link to map: the transformation between map and base_link does not exist.
[ WARN] [1574837187.368732183, 1.600000000]: cannot lookup relative transform from map to base_link at time 0.000000000. Using latest transform
[ WARN] [1574837187.468725955, 1.700000000]: cannot lookup relative transform from map to base_link at time 0.000000000. Using latest transform
[ WARN] [1574837187.670250319, 1.900000000]: cannot lookup relative transform from map to base_link at time 0.000000000. Using latest transform
[ WARN] [1574837187.770237280, 2.000000000]: cannot lookup relative transform from map to base_link at time 0.000000000. Using latest transform
[ WARN] [1574837187.870323464, 2.100000000]: cannot lookup relative transform from map to base_link at time 0.000000000. Using latest transform


Can you give me some advice how to solve this problem.Thank you!

[betwo]

Hi @Mr-Xavier,

thank you for reaching out! Could you please give more details? Which launch file did you start?

Please also post your tf tree, e.g. as a screenshot of rosrun rqt_tf_tree rqt_tf_tree.

Cheers

[Mr-Xavier]

@betwo

[betwo]

That actually looks fine. In the first few seconds, the transformation map -> base_link might not yet be published by amcl.

Did you send a navigation goal?

I reproduced the warnings (see https://youtu.be/y3L5xazTxf8) but the navigation still works.

[Mr-Xavier]

@betwo
Thanks for your reply. There are still some problems in the simulation. Sometimes it does not follow the planning path, and hits the obstacle directly.

[betwo]

@Mr-Xavier sorry for the delay.

It looks like the selected controller started in the opposite direction somehow. I haven't observed this in the past.

Could you please specify under which circumstances this happens?
Also, which launch file did you use?
Did you make customizations? If yes, which control algorithm is used?

Thanks!

[betwo]

Closed for inactivity. Please re-open if this is still an issue