Global Frame Error if the robot run on a known map (TEB local planner)

Hello, i just implemented the teb local planner for my robot.
i make the launch file for two condition, if the robot has known the map and when the robot don’t know the map. (parameter is navigate_a_map)

If i launch with parameter navigate_a_map = false (robot don’t know the map) the robot can navigate smoothly (with the rviz fixed frame on my robot : odom).

But when i launch with the parameter navigate_a_map = true (robot has known the map), with the fixed frame on rviz : robot_map. The terminal show me an error :

[ERROR] [1587820135.153475521, 1303.264000000]: Global Frame: odom Plan Frame size 301: robot_map
[ WARN] [1587820135.153526556, 1303.264000000]: Could not transform the global plan to the frame of the controller
[ERROR] [1587820135.354448282, 1303.464000000]: Extrapolation Error: Lookup would require extrapolation into the future.  Requested time 1303.444000000 but the latest data is at time 1303.362000000, when looking up transform from frame [odom] to frame [robot_map]

[ERROR] [1587820135.354570692, 1303.464000000]: Global Frame: odom Plan Frame size 301: robot_map

[ WARN] [1587820135.354623421, 1303.464000000]: Could not transform the global plan to the frame of the controller

And it makes the robot can’t move smooth (move but slow and delayed)
on my rqt_tf_tree is robot_map → odom → robot_base_footprint.

Here is my global_costmap_params.yaml

global_costmap:
  global_frame: robot_map #Set to robot_map if navigate_a_map=true, set to odom if false
  robot_base_frame: robot_base_footprint
  update_frequency: 5.0
  static_map: true
  rolling_window: false #

  plugins:
  - {name: static,                  type: "costmap_2d::StaticLayer"}
  - {name: obstacles_layer,         type: "costmap_2d::VoxelLayer"} 
  - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}

And here’s my local_costmap_params.yaml

local_costmap:
  global_frame: odom     
  robot_base_frame: robot_base_footprint
  update_frequency: 5.0
  static_map: false           
  rolling_window: true
  width: 10.0
  height: 10.0
  resolution: 0.05

  plugins:
  - {name: obstacle_layer,            type: "costmap_2d::ObstacleLayer"}
  - {name: inflation_layer,           type: "costmap_2d::InflationLayer"}

Is there an error with the concept / with the code?

Hi!

Have a look at the solutions git. You must have something wrong there because I just redid the exercises and worked perfectly.

https://bitbucket.org/theconstructcore/teb_navigation_course_solutions/src/master/

But please specify which unit and exercise you ar ehaving issues ;).

thank you so much for sharing the package! :grinning: