Hello together,
I am currently working on task 3 of the navigation exam. Unfortunately neither the local nor the global costmap is visible in rviz, although there is no error message. The following output when starting path_planning.launch:
SUMMARY
PARAMETERS
- /amcl/gui_publish_rate: 10.0
- /amcl/kld_err: 0.05
- /amcl/laser_max_beams: 60
- /amcl/laser_max_range: 12.0
- /amcl/laser_z_hit: 0.5
- /amcl/laser_z_max: 0.05
- /amcl/laser_z_rand: 0.5
- /amcl/laser_z_short: 0.05
- /amcl/max_particles: 2000
- /amcl/min_particles: 500
- /amcl/odom_frame_id: odom
- /amcl/odom_model_type: diff
- /amcl/resample_interval: 1
- /amcl/transform_tolerance: 1.0
- /amcl/update_min_a: 0.2
- /amcl/update_min_d: 0.25
- /amcl/use_map_topic: True
- /move_base/DWAPlannerROS/acc_lim_th: 3.2
- /move_base/DWAPlannerROS/acc_lim_x: 2.5
- /move_base/DWAPlannerROS/acc_lim_y: 0.0
- /move_base/DWAPlannerROS/latch_xy_goal_tolerance: False
- /move_base/DWAPlannerROS/max_vel_theta: 1.0
- /move_base/DWAPlannerROS/max_vel_trans: 0.55
- /move_base/DWAPlannerROS/max_vel_x: 0.55
- /move_base/DWAPlannerROS/max_vel_y: 0
- /move_base/DWAPlannerROS/min_vel_theta: 0.2
- /move_base/DWAPlannerROS/min_vel_trans: 0.1
- /move_base/DWAPlannerROS/min_vel_x: 0.0
- /move_base/DWAPlannerROS/min_vel_y: 0
- /move_base/DWAPlannerROS/sim_granularity: 0.017
- /move_base/DWAPlannerROS/sim_time: 2.0
- /move_base/DWAPlannerROS/vtheta_samples: 20
- /move_base/DWAPlannerROS/vx_samples: 6
- /move_base/DWAPlannerROS/xy_goal_tolerance: 0.1
- /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.05
- /move_base/NavfnROS/allow_unknown: True
- /move_base/NavfnROS/default_tolerance: 0.1
- /move_base/clearing_rotation_allowed: True
- /move_base/conservative_reset_dist: 3.0
- /move_base/controller_frequency: 10.0
- /move_base/controller_patience: 15.0
- /move_base/global_costmap/footprint: [[-0.35, -0.3], […
- /move_base/global_costmap/inflation/inflation_radius: 2.0
- /move_base/global_costmap/obstacle_range: 2.5
- /move_base/global_costmap/obstacles_laser/laser/clearing: True
- /move_base/global_costmap/obstacles_laser/laser/data_type: LaserScan
- /move_base/global_costmap/obstacles_laser/laser/inf_is_valid: True
- /move_base/global_costmap/obstacles_laser/laser/marking: True
- /move_base/global_costmap/obstacles_laser/laser/topic: scan
- /move_base/global_costmap/obstacles_laser/observation_sources: laser
- /move_base/global_costmap/publish_frequency: 1.0
- /move_base/global_costmap/raytrace_range: 3.0
- /move_base/global_costmap/resolution: 0.5
- /move_base/global_costmap/robot_base_frame: base_link
- /move_base/global_costmap/static/map_topic: map
- /move_base/global_costmap/static/subscribe_to_updates: True
- /move_base/global_costmap/transform_tolerance: 0.5
- /move_base/global_costmap/update_frequency: 4.0
- /move_base/global_frame: map
- /move_base/local_costmap/footprint: [[-0.35, -0.3], […
- /move_base/local_costmap/height: 10.0
- /move_base/local_costmap/inflation/inflation_radius: 2.0
- /move_base/local_costmap/obstacle_range: 2.5
- /move_base/local_costmap/obstacles_laser/laser/clearing: True
- /move_base/local_costmap/obstacles_laser/laser/data_type: LaserScan
- /move_base/local_costmap/obstacles_laser/laser/inf_is_valid: True
- /move_base/local_costmap/obstacles_laser/laser/marking: True
- /move_base/local_costmap/obstacles_laser/laser/topic: scan
- /move_base/local_costmap/obstacles_laser/observation_sources: laser
- /move_base/local_costmap/publish_frequency: 1.0
- /move_base/local_costmap/raytrace_range: 3.0
- /move_base/local_costmap/resolution: 0.5
- /move_base/local_costmap/robot_base_frame: base_link
- /move_base/local_costmap/static/map_topic: map
- /move_base/local_costmap/static/subscribe_to_updates: True
- /move_base/local_costmap/transform_tolerance: 0.5
- /move_base/local_costmap/update_frequency: 4.0
- /move_base/local_costmap/width: 10.0
- /move_base/oscillation_distance: 0.5
- /move_base/oscillation_timeout: 0.0
- /move_base/planner_frequency: 0.2
- /move_base/planner_patience: 5.0
- /move_base/plugins: [{‘name’: 'static…
- /move_base/recovery_behavior_enabled: True
- /move_base/rolling_window: False
- /move_base/shutdown_costmaps: False
- /move_base/track_unknown_space: True
- /rosdistro: noetic
- /rosversion: 1.15.9
NODES
/
amcl (amcl/amcl)
map_server (map_server/map_server)
move_base (move_base/move_base)
ROS_MASTER_URI=http://1_simulation:11311
process[map_server-1]: started with pid [10136]
process[amcl-2]: started with pid [10137]
process[move_base-3]: started with pid [10142]
[ WARN] [1641501880.872421758, 6035.960000000]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist… canTransform returned after 6035.96 timeout was 0.1.
Warning: Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link at time 6037.100000 according to authority unknown_publisherTF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link at time 6037.100000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link at time 6037.260000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link at time 6037.260000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
[ INFO] [1641501882.354466858, 6037.420000000]: global_costmap: Using plugin “obstacle_layer”
[ INFO] [1641501882.363198413, 6037.430000000]: Subscribed to Topics:
[ INFO] [1641501882.376021722, 6037.440000000]: global_costmap: Using plugin “inflation_layer”
[ INFO] [1641501882.433116872, 6037.500000000]: local_costmap: Using plugin “obstacle_layer”
[ INFO] [1641501882.439683472, 6037.500000000]: Subscribed to Topics:
[ INFO] [1641501882.451010050, 6037.520000000]: local_costmap: Using plugin “inflation_layer”
[ INFO] [1641501882.508900268, 6037.570000000]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1641501882.512592956, 6037.580000000]: Sim period is set to 0.10
[ INFO] [1641501882.754879516, 6037.820000000]: Recovery behavior will clear layer ‘obstacles’
[ INFO] [1641501882.763081313, 6037.830000000]: Recovery behavior will clear layer ‘obstacles’
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link at time 6039.240000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link at time 6039.240000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link at time 6039.720000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link at time 6039.720000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link at time 6040.680000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link at time 6040.680000 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
…
Please do not wonder about some settings, I have now played around with almost every parameter, but without success, always the same problem. By entering roswtf I get the following error message:
================================================================================
Static checks summary:
Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING ROS_IP may be incorrect: ROS_IP does not appear to be an IP address of a local network interface (one of [‘127.0.0.1’, ‘172.18.0.7’]).
================================================================================
Beginning tests of your ROS graph. These may take a while…
analyzing graph…
… done analyzing graph
running graph rules…
… done running graph rules
Traceback (most recent call last):
File “/opt/ros/noetic/lib/python3/dist-packages/roswtf/init.py”, line 224, in _roswtf_main
p(ctx)
File “/opt/ros/noetic/lib/python3/dist-packages/openni2_launch/wtf_plugin.py”, line 114, in roswtf_plugin_online
error_rule(r, r0, ctx)
File “/opt/ros/noetic/lib/python3/dist-packages/openni2_launch/wtf_plugin.py”, line 85, in sensor_notfound
devices = _device_notfound_subproc(
File “/opt/ros/noetic/lib/python3/dist-packages/openni2_launch/wtf_plugin.py”, line 56, in _device_notfound_subproc
df = subprocess.check_output(“lsusb”)
File “/usr/lib/python3.8/subprocess.py”, line 411, in check_output
return run(*popenargs, stdout=PIPE, timeout=timeout, check=True,
File “/usr/lib/python3.8/subprocess.py”, line 512, in run
raise CalledProcessError(retcode, process.args,
subprocess.CalledProcessError: Command ‘lsusb’ returned non-zero exit status 1.
Command ‘lsusb’ returned non-zero exit status 1.
Aborting checks, partial results summary:
Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING The following node subscriptions are unconnected:
- /twist_marker_server:
- /twist_marker_server/feedback
- /twist_mux:
- /joy_teleop/cmd_vel
- /platform_control/cmd_vel
- /e_stop
- /ekf_localization:
- /set_pose
- /gazebo:
- /gazebo/set_link_state
- /gazebo/set_model_state
- /rviz_1641497272639802580:
- /map_updates
- /move_base:
- /odom
- /move_base/cancel
WARNING These nodes have died:
- spawn_husky_model-9
Found 1 error(s).
ERROR The following nodes should be connected but aren’t:
- /move_base->/move_base (/move_base/local_costmap/footprint)
- /move_base->/move_base (/move_base/global_costmap/footprint)
And in rviz it looks like this:
I would be very grateful for any assistance.
Best regards
Sebastian