Couldn't use move_base controller.

[cn-actor]

Hello,when I roslaunch mcl_pi_move_base.launch.
[ WARN] [1621153885.937166331, 20.119000000]: Timed out waiting for transform from KoBot2/base_KoBot2 to KoBot2/map to become available before running costmap, tf error: canTransform: target_frame KoBot2/map does not exist. canTransform: source_frame KoBot2/base_KoBot2 does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1621153891.875190169, 25.133000000]: Timed out waiting for transform from KoBot/base_KoBot to KoBot/map to become available before running costmap, tf error: canTransform: target_frame KoBot/map does not exist. canTransform: source_frame KoBot/base_KoBot does not exist.. canTransform returned after 0.101 timeout was 0.1.
And after I set goal by rviz Nav Goal,any of robots didn't move.
Could you help me fix this issue?Thanks.

[TalFeiner]

Hi, I need more info to understand the problem.
Which ros distribution are you using?
Have you installed all the dependencies?
Can you past here all the terminal output, please?

Please, try to open new terminal and use the following commands:
sudo apt install ros-<ros_distribution>-teb-local-planner -y
python
import sklearn
import matplotlib
import scipy
import numpy
Did you had error while running any of those commands?

[cn-actor]

Hi, I need more info to understand the problem.
Which ros distribution are you using?
Have you installed all the dependencies?
Can you past here all the terminal output, please?

Please, try to open new terminal and use the following commands:
sudo apt install ros-<ros_distribution>-teb-local-planner -y
python
import sklearn
import matplotlib
import scipy
import numpy
Did you had error while running any of those commands?

Thanks!It's 16.04,just continual WRN.I'm trying your solution.

[TalFeiner]

We used Ubuntu 18, ros melodic while writing this package.
I do not know if it is compatible with another version.

[cn-actor]

We used Ubuntu 18, ros melodic while writing this package.
I do not know if it is compatible with another version.

There are some install problems to solve before I rerun the code.Appreciate it!

[God-Ray]

We used Ubuntu 18, ros melodic while writing this package.
I do not know if it is compatible with another version.

There are some install problems to solve before I rerun the code.Appreciate it!

Hello, I use ubuntu16.04 and ros kinetic too. Have you run this project successfully?

[God-Ray]

Hi, I need more info to understand the problem.
Which ros distribution are you using?
Have you installed all the dependencies?
Can you past here all the terminal output, please?

Please, try to open new terminal and use the following commands:
sudo apt install ros-<ros_distribution>-teb-local-planner -y
python
import sklearn
import matplotlib
import scipy
import numpy
Did you had error while running any of those commands?

The same question to me, all the dependencies have been installed. It seems that there is no transform from base_Abot to map. Like this question https://answers.ros.org/question/280776/how-to-resolve-error-timed-out-waiting-for-transform-from-base_link-to-map-to-become-available-before-running-costmap-tf-error-cantransform/.
What should I do ,please

[TalFeiner]

Hi, I need more info to understand the problem.
Which ros distribution are you using?
Have you installed all the dependencies?
Can you past here all the terminal output, please?
Please, try to open new terminal and use the following commands:
sudo apt install ros-<ros_distribution>-teb-local-planner -y
python
import sklearn
import matplotlib
import scipy
import numpy
Did you had error while running any of those commands?

The same question to me, all the dependencies have been installed. It seems that there is no transform from base_Abot to map. Like this question https://answers.ros.org/question/280776/how-to-resolve-error-timed-out-waiting-for-transform-from-base_link-to-map-to-become-available-before-running-costmap-tf-error-cantransform/.
What should I do ,please

Hi, please try the following installations:
sudo apt install ros-<ros_distribution>-amcl
sudo apt install ros-<ros_distribution>-map-server
sudo apt install ros-<ros_distribution>-move-base

Could you run it once more and show me your terminal output, please?

[God-Ray]

Hi, as you see the first pic, all the four packages had been installed before. The question still exists as the second pic.&nbsp; Thank you very much.

…

------------------&nbsp;原始邮件&nbsp;------------------ 发件人: "or-tal-robotics/mcl_pi_gazebo" ***@***.***&gt;; 发送时间:&nbsp;2021年7月5日(星期一) 中午12:59 ***@***.***&gt;; ***@***.******@***.***&gt;; 主题:&nbsp;Re: [or-tal-robotics/mcl_pi_gazebo] Couldn't use move_base controller. (#3) Hi, I need more info to understand the problem. Which ros distribution are you using? Have you installed all the dependencies? Can you past here all the terminal output, please? Please, try to open new terminal and use the following commands: sudo apt install ros-<ros_distribution&gt;-teb-local-planner -y python import sklearn import matplotlib import scipy import numpy Did you had error while running any of those commands? The same question to me, all the dependencies have been installed. It seems that there is no transform from base_Abot to map. Like this question https://answers.ros.org/question/280776/how-to-resolve-error-timed-out-waiting-for-transform-from-base_link-to-map-to-become-available-before-running-costmap-tf-error-cantransform/. What should I do ,please Hi, please try the following installations: sudo apt install ros-<ros_distribution&gt;-amcl sudo apt install ros-<ros_distribution&gt;-map-server sudo apt install ros-<ros_distribution&gt;-move-base Could you run it once more and show me your terminal output, please? — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or unsubscribe.

[God-Ray]

Hi, I need more info to understand the problem.
Which ros distribution are you using?
Have you installed all the dependencies?
Can you past here all the terminal output, please?
Please, try to open new terminal and use the following commands:
sudo apt install ros-<ros_distribution>-teb-local-planner -y
python
import sklearn
import matplotlib
import scipy
import numpy
Did you had error while running any of those commands?

The same question to me, all the dependencies have been installed. It seems that there is no transform from base_Abot to map. Like this question https://answers.ros.org/question/280776/how-to-resolve-error-timed-out-waiting-for-transform-from-base_link-to-map-to-become-available-before-running-costmap-tf-error-cantransform/.
What should I do ,please

Hi, please try the following installations:
sudo apt install ros-<ros_distribution>-amcl
sudo apt install ros-<ros_distribution>-map-server
sudo apt install ros-<ros_distribution>-move-base

Could you run it once more and show me your terminal output, please?

It seems that the MCL doesn't work properly......
TF tree seems good.

[TalFeiner]

Hi, sorry for the late reply.

I can't see the pics you're referring to.

Is it works for you?
I need more info to get better understanding of the problem, you are having.
Please, run everything once more and paste here the terminal output.

If you think there is a problem with amcl.
Please run everything, after everything is running, open new terminal and run: roswtf
And paste here both terminals outputs.

[God-Ray]

Hi, it still doesn't work now. The terminal output and roswtf output are here:

liurui@LR:~/mcl/src/mcl_pi_gazebo/move_base$ roslaunch mcl_pi_move_base.launch
... logging to /home/liurui/.ros/log/faa8938a-e4a3-11eb-a57f-54271e0fd8b5/roslaunch-LR-20451.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
started roslaunch server http://10.250.24.172:46205/

SUMMARY

PARAMETERS

• /ABot/mcl_pi_ABot/laser_frame: laser_link_ABot
• /ABot/move_base_ABot/DWAPlannerROS/acc_lim_th: 0.5
• /ABot/move_base_ABot/DWAPlannerROS/acc_lim_x: 0.6
• /ABot/move_base_ABot/DWAPlannerROS/acc_lim_y: 0
• /ABot/move_base_ABot/DWAPlannerROS/latch_xy_goal_tolerance: False
• /ABot/move_base_ABot/DWAPlannerROS/max_rot_vel: 0.1
• /ABot/move_base_ABot/DWAPlannerROS/max_trans_vel: 0.2
• /ABot/move_base_ABot/DWAPlannerROS/max_vel_x: 0.2
• /ABot/move_base_ABot/DWAPlannerROS/max_vel_y: 0
• /ABot/move_base_ABot/DWAPlannerROS/min_rot_vel: 0.05
• /ABot/move_base_ABot/DWAPlannerROS/min_trans_vel: 0.05
• /ABot/move_base_ABot/DWAPlannerROS/min_vel_x: -0.1
• /ABot/move_base_ABot/DWAPlannerROS/min_vel_y: 0
• /ABot/move_base_ABot/DWAPlannerROS/sim_time: 1.7
• /ABot/move_base_ABot/DWAPlannerROS/xy_goal_tolerance: 0.3
• /ABot/move_base_ABot/DWAPlannerROS/yaw_goal_tolerance: 0.1
• /ABot/move_base_ABot/NavfnROS/allow_unknown: True
• /ABot/move_base_ABot/base_global_planner: navfn/NavfnROS
• /ABot/move_base_ABot/base_local_planner: teb_local_planner...
• /ABot/move_base_ABot/controller_frequency: 2
• /ABot/move_base_ABot/global_costmap/allow_unknown: True
• /ABot/move_base_ABot/global_costmap/footprint: [[0.2, 0.2], [-0....
• /ABot/move_base_ABot/global_costmap/footprint_padding: 0.026
• /ABot/move_base_ABot/global_costmap/global_frame: map
• /ABot/move_base_ABot/global_costmap/inflation/inflation_radius: 0.342
• /ABot/move_base_ABot/global_costmap/inflation_global/inflation_radius: 0.2
• /ABot/move_base_ABot/global_costmap/obstacle_range: 4.5
• /ABot/move_base_ABot/global_costmap/obstacles_laser/laser/clearing: True
• /ABot/move_base_ABot/global_costmap/obstacles_laser/laser/data_type: LaserScan
• /ABot/move_base_ABot/global_costmap/obstacles_laser/laser/inf_is_valid: True
• /ABot/move_base_ABot/global_costmap/obstacles_laser/laser/marking: True
• /ABot/move_base_ABot/global_costmap/obstacles_laser/laser/sensor_frame: laser_link_ABot
• /ABot/move_base_ABot/global_costmap/obstacles_laser/laser/topic: ABot/scan
• /ABot/move_base_ABot/global_costmap/obstacles_laser/observation_sources: laser
• /ABot/move_base_ABot/global_costmap/plugins: [{'type': 'costma...
• /ABot/move_base_ABot/global_costmap/publish_frequency: 5.0
• /ABot/move_base_ABot/global_costmap/raytrace_range: 5.0
• /ABot/move_base_ABot/global_costmap/resolution: 0.05
• /ABot/move_base_ABot/global_costmap/robot_base_frame: base_ABot
• /ABot/move_base_ABot/global_costmap/rolling_window: False
• /ABot/move_base_ABot/global_costmap/static/map_topic: /map
• /ABot/move_base_ABot/global_costmap/static/subscribe_to_updates: True
• /ABot/move_base_ABot/global_costmap/static_map: True
• /ABot/move_base_ABot/global_costmap/track_unknown_space: True
• /ABot/move_base_ABot/global_costmap/transform_tolerance: 0.5
• /ABot/move_base_ABot/global_costmap/update_frequency: 1.0
• /ABot/move_base_ABot/local_costmap/allow_unknown: True
• /ABot/move_base_ABot/local_costmap/footprint: [[0.2, 0.2], [-0....
• /ABot/move_base_ABot/local_costmap/footprint_padding: 0.026
• /ABot/move_base_ABot/local_costmap/global_frame: map
• /ABot/move_base_ABot/local_costmap/height: 4
• /ABot/move_base_ABot/local_costmap/inflation/inflation_radius: 0.342
• /ABot/move_base_ABot/local_costmap/inflation_global/inflation_radius: 0.2
• /ABot/move_base_ABot/local_costmap/obstacle_range: 4.5
• /ABot/move_base_ABot/local_costmap/obstacles_laser/laser/clearing: True
• /ABot/move_base_ABot/local_costmap/obstacles_laser/laser/data_type: LaserScan
• /ABot/move_base_ABot/local_costmap/obstacles_laser/laser/inf_is_valid: True
• /ABot/move_base_ABot/local_costmap/obstacles_laser/laser/marking: True
• /ABot/move_base_ABot/local_costmap/obstacles_laser/laser/sensor_frame: laser_link_ABot
• /ABot/move_base_ABot/local_costmap/obstacles_laser/laser/topic: ABot/scan
• /ABot/move_base_ABot/local_costmap/obstacles_laser/observation_sources: laser
• /ABot/move_base_ABot/local_costmap/plugins: [{'type': 'costma...
• /ABot/move_base_ABot/local_costmap/publish_frequency: 1.0
• /ABot/move_base_ABot/local_costmap/raytrace_range: 5.0
• /ABot/move_base_ABot/local_costmap/resolution: 0.025
• /ABot/move_base_ABot/local_costmap/robot_base_frame: base_ABot
• /ABot/move_base_ABot/local_costmap/rolling_window: True
• /ABot/move_base_ABot/local_costmap/static/map_topic: /map
• /ABot/move_base_ABot/local_costmap/static/subscribe_to_updates: True
• /ABot/move_base_ABot/local_costmap/static_map: True
• /ABot/move_base_ABot/local_costmap/transform_tolerance: 0.5
• /ABot/move_base_ABot/local_costmap/update_frequency: 5.0
• /ABot/move_base_ABot/local_costmap/width: 4
• /ABot/move_base_ABot/recovery_behaviour_enabled: True
• /ABot/robot_description: <?xml version="1....
• /ABot/tf_prefix: /ABot
• /KoBot/mcl_pi_KoBot/laser_frame: laser_link_KoBot
• /KoBot/move_base_KoBot/DWAPlannerROS/acc_lim_th: 0.5
• /KoBot/move_base_KoBot/DWAPlannerROS/acc_lim_x: 0.6
• /KoBot/move_base_KoBot/DWAPlannerROS/acc_lim_y: 0
• /KoBot/move_base_KoBot/DWAPlannerROS/latch_xy_goal_tolerance: False
• /KoBot/move_base_KoBot/DWAPlannerROS/max_rot_vel: 0.1
• /KoBot/move_base_KoBot/DWAPlannerROS/max_trans_vel: 0.2
• /KoBot/move_base_KoBot/DWAPlannerROS/max_vel_x: 0.2
• /KoBot/move_base_KoBot/DWAPlannerROS/max_vel_y: 0
• /KoBot/move_base_KoBot/DWAPlannerROS/min_rot_vel: 0.05
• /KoBot/move_base_KoBot/DWAPlannerROS/min_trans_vel: 0.05
• /KoBot/move_base_KoBot/DWAPlannerROS/min_vel_x: -0.1
• /KoBot/move_base_KoBot/DWAPlannerROS/min_vel_y: 0
• /KoBot/move_base_KoBot/DWAPlannerROS/sim_time: 1.7
• /KoBot/move_base_KoBot/DWAPlannerROS/xy_goal_tolerance: 0.3
• /KoBot/move_base_KoBot/DWAPlannerROS/yaw_goal_tolerance: 0.1
• /KoBot/move_base_KoBot/NavfnROS/allow_unknown: True
• /KoBot/move_base_KoBot/base_global_planner: navfn/NavfnROS
• /KoBot/move_base_KoBot/base_local_planner: teb_local_planner...
• /KoBot/move_base_KoBot/controller_frequency: 2
• /KoBot/move_base_KoBot/global_costmap/allow_unknown: True
• /KoBot/move_base_KoBot/global_costmap/footprint: [[0.2, 0.2], [-0....
• /KoBot/move_base_KoBot/global_costmap/footprint_padding: 0.026
• /KoBot/move_base_KoBot/global_costmap/global_frame: map
• /KoBot/move_base_KoBot/global_costmap/inflation/inflation_radius: 0.342
• /KoBot/move_base_KoBot/global_costmap/inflation_global/inflation_radius: 0.3
• /KoBot/move_base_KoBot/global_costmap/obstacle_range: 4.5
• /KoBot/move_base_KoBot/global_costmap/obstacles_laser/laser/clearing: True
• /KoBot/move_base_KoBot/global_costmap/obstacles_laser/laser/data_type: LaserScan
• /KoBot/move_base_KoBot/global_costmap/obstacles_laser/laser/inf_is_valid: True
• /KoBot/move_base_KoBot/global_costmap/obstacles_laser/laser/marking: True
• /KoBot/move_base_KoBot/global_costmap/obstacles_laser/laser/sensor_frame: laser_link_KoBot
• /KoBot/move_base_KoBot/global_costmap/obstacles_laser/laser/topic: KoBot/scan
• /KoBot/move_base_KoBot/global_costmap/obstacles_laser/observation_sources: laser
• /KoBot/move_base_KoBot/global_costmap/plugins: [{'type': 'costma...
• /KoBot/move_base_KoBot/global_costmap/publish_frequency: 5.0
• /KoBot/move_base_KoBot/global_costmap/raytrace_range: 5.0
• /KoBot/move_base_KoBot/global_costmap/resolution: 0.05
• /KoBot/move_base_KoBot/global_costmap/robot_base_frame: base_KoBot
• /KoBot/move_base_KoBot/global_costmap/rolling_window: False
• /KoBot/move_base_KoBot/global_costmap/static/map_topic: /map
• /KoBot/move_base_KoBot/global_costmap/static/subscribe_to_updates: True
• /KoBot/move_base_KoBot/global_costmap/static_map: True
• /KoBot/move_base_KoBot/global_costmap/track_unknown_space: True
• /KoBot/move_base_KoBot/global_costmap/transform_tolerance: 0.5
• /KoBot/move_base_KoBot/global_costmap/update_frequency: 1.0
• /KoBot/move_base_KoBot/local_costmap/allow_unknown: True
• /KoBot/move_base_KoBot/local_costmap/footprint: [[0.2, 0.2], [-0....
• /KoBot/move_base_KoBot/local_costmap/footprint_padding: 0.026
• /KoBot/move_base_KoBot/local_costmap/global_frame: map
• /KoBot/move_base_KoBot/local_costmap/height: 4
• /KoBot/move_base_KoBot/local_costmap/inflation/inflation_radius: 0.342
• /KoBot/move_base_KoBot/local_costmap/inflation_global/inflation_radius: 0.3
• /KoBot/move_base_KoBot/local_costmap/obstacle_range: 4.5
• /KoBot/move_base_KoBot/local_costmap/obstacles_laser/laser/clearing: True
• /KoBot/move_base_KoBot/local_costmap/obstacles_laser/laser/data_type: LaserScan
• /KoBot/move_base_KoBot/local_costmap/obstacles_laser/laser/inf_is_valid: True
• /KoBot/move_base_KoBot/local_costmap/obstacles_laser/laser/marking: True
• /KoBot/move_base_KoBot/local_costmap/obstacles_laser/laser/sensor_frame: laser_link_KoBot
• /KoBot/move_base_KoBot/local_costmap/obstacles_laser/laser/topic: KoBot/scan
• /KoBot/move_base_KoBot/local_costmap/obstacles_laser/observation_sources: laser
• /KoBot/move_base_KoBot/local_costmap/plugins: [{'type': 'costma...
• /KoBot/move_base_KoBot/local_costmap/publish_frequency: 1.0
• /KoBot/move_base_KoBot/local_costmap/raytrace_range: 5.0
• /KoBot/move_base_KoBot/local_costmap/resolution: 0.025
• /KoBot/move_base_KoBot/local_costmap/robot_base_frame: base_KoBot
• /KoBot/move_base_KoBot/local_costmap/rolling_window: True
• /KoBot/move_base_KoBot/local_costmap/static/map_topic: /map
• /KoBot/move_base_KoBot/local_costmap/static/subscribe_to_updates: True
• /KoBot/move_base_KoBot/local_costmap/static_map: True
• /KoBot/move_base_KoBot/local_costmap/transform_tolerance: 0.5
• /KoBot/move_base_KoBot/local_costmap/update_frequency: 5.0
• /KoBot/move_base_KoBot/local_costmap/width: 4
• /KoBot/move_base_KoBot/recovery_behaviour_enabled: True
• /KoBot/robot_description: <?xml version="1....
• /KoBot/tf_prefix: /KoBot
• /KoBot2/mcl_pi_KoBot2/laser_frame: laser_link_KoBot2
• /KoBot2/move_base_KoBot2/DWAPlannerROS/acc_lim_th: 0.5
• /KoBot2/move_base_KoBot2/DWAPlannerROS/acc_lim_x: 0.6
• /KoBot2/move_base_KoBot2/DWAPlannerROS/acc_lim_y: 0
• /KoBot2/move_base_KoBot2/DWAPlannerROS/latch_xy_goal_tolerance: False
• /KoBot2/move_base_KoBot2/DWAPlannerROS/max_rot_vel: 0.1
• /KoBot2/move_base_KoBot2/DWAPlannerROS/max_trans_vel: 0.2
• /KoBot2/move_base_KoBot2/DWAPlannerROS/max_vel_x: 0.2
• /KoBot2/move_base_KoBot2/DWAPlannerROS/max_vel_y: 0
• /KoBot2/move_base_KoBot2/DWAPlannerROS/min_rot_vel: 0.05
• /KoBot2/move_base_KoBot2/DWAPlannerROS/min_trans_vel: 0.05
• /KoBot2/move_base_KoBot2/DWAPlannerROS/min_vel_x: -0.1
• /KoBot2/move_base_KoBot2/DWAPlannerROS/min_vel_y: 0
• /KoBot2/move_base_KoBot2/DWAPlannerROS/sim_time: 1.7
• /KoBot2/move_base_KoBot2/DWAPlannerROS/xy_goal_tolerance: 0.3
• /KoBot2/move_base_KoBot2/DWAPlannerROS/yaw_goal_tolerance: 0.1
• /KoBot2/move_base_KoBot2/NavfnROS/allow_unknown: True
• /KoBot2/move_base_KoBot2/base_global_planner: navfn/NavfnROS
• /KoBot2/move_base_KoBot2/base_local_planner: teb_local_planner...
• /KoBot2/move_base_KoBot2/controller_frequency: 2
• /KoBot2/move_base_KoBot2/global_costmap/allow_unknown: True
• /KoBot2/move_base_KoBot2/global_costmap/footprint: [[0.2, 0.2], [-0....
• /KoBot2/move_base_KoBot2/global_costmap/footprint_padding: 0.026
• /KoBot2/move_base_KoBot2/global_costmap/global_frame: map
• /KoBot2/move_base_KoBot2/global_costmap/inflation/inflation_radius: 0.342
• /KoBot2/move_base_KoBot2/global_costmap/inflation_global/inflation_radius: 0.3
• /KoBot2/move_base_KoBot2/global_costmap/obstacle_range: 4.5
• /KoBot2/move_base_KoBot2/global_costmap/obstacles_laser/laser/clearing: True
• /KoBot2/move_base_KoBot2/global_costmap/obstacles_laser/laser/data_type: LaserScan
• /KoBot2/move_base_KoBot2/global_costmap/obstacles_laser/laser/inf_is_valid: True
• /KoBot2/move_base_KoBot2/global_costmap/obstacles_laser/laser/marking: True
• /KoBot2/move_base_KoBot2/global_costmap/obstacles_laser/laser/sensor_frame: laser_link_KoBot2
• /KoBot2/move_base_KoBot2/global_costmap/obstacles_laser/laser/topic: KoBot2/scan
• /KoBot2/move_base_KoBot2/global_costmap/obstacles_laser/observation_sources: laser
• /KoBot2/move_base_KoBot2/global_costmap/plugins: [{'type': 'costma...
• /KoBot2/move_base_KoBot2/global_costmap/publish_frequency: 5.0
• /KoBot2/move_base_KoBot2/global_costmap/raytrace_range: 5.0
• /KoBot2/move_base_KoBot2/global_costmap/resolution: 0.05
• /KoBot2/move_base_KoBot2/global_costmap/robot_base_frame: base_KoBot2
• /KoBot2/move_base_KoBot2/global_costmap/rolling_window: False
• /KoBot2/move_base_KoBot2/global_costmap/static/map_topic: /map
• /KoBot2/move_base_KoBot2/global_costmap/static/subscribe_to_updates: True
• /KoBot2/move_base_KoBot2/global_costmap/static_map: True
• /KoBot2/move_base_KoBot2/global_costmap/track_unknown_space: True
• /KoBot2/move_base_KoBot2/global_costmap/transform_tolerance: 0.5
• /KoBot2/move_base_KoBot2/global_costmap/update_frequency: 1.0
• /KoBot2/move_base_KoBot2/local_costmap/allow_unknown: True
• /KoBot2/move_base_KoBot2/local_costmap/footprint: [[0.2, 0.2], [-0....
• /KoBot2/move_base_KoBot2/local_costmap/footprint_padding: 0.026
• /KoBot2/move_base_KoBot2/local_costmap/global_frame: map
• /KoBot2/move_base_KoBot2/local_costmap/height: 4
• /KoBot2/move_base_KoBot2/local_costmap/inflation/inflation_radius: 0.342
• /KoBot2/move_base_KoBot2/local_costmap/inflation_global/inflation_radius: 0.3
• /KoBot2/move_base_KoBot2/local_costmap/obstacle_range: 4.5
• /KoBot2/move_base_KoBot2/local_costmap/obstacles_laser/laser/clearing: True
• /KoBot2/move_base_KoBot2/local_costmap/obstacles_laser/laser/data_type: LaserScan
• /KoBot2/move_base_KoBot2/local_costmap/obstacles_laser/laser/inf_is_valid: True
• /KoBot2/move_base_KoBot2/local_costmap/obstacles_laser/laser/marking: True
• /KoBot2/move_base_KoBot2/local_costmap/obstacles_laser/laser/sensor_frame: laser_link_KoBot2
• /KoBot2/move_base_KoBot2/local_costmap/obstacles_laser/laser/topic: KoBot2/scan
• /KoBot2/move_base_KoBot2/local_costmap/obstacles_laser/observation_sources: laser
• /KoBot2/move_base_KoBot2/local_costmap/plugins: [{'type': 'costma...
• /KoBot2/move_base_KoBot2/local_costmap/publish_frequency: 1.0
• /KoBot2/move_base_KoBot2/local_costmap/raytrace_range: 5.0
• /KoBot2/move_base_KoBot2/local_costmap/resolution: 0.025
• /KoBot2/move_base_KoBot2/local_costmap/robot_base_frame: base_KoBot2
• /KoBot2/move_base_KoBot2/local_costmap/rolling_window: True
• /KoBot2/move_base_KoBot2/local_costmap/static/map_topic: /map
• /KoBot2/move_base_KoBot2/local_costmap/static/subscribe_to_updates: True
• /KoBot2/move_base_KoBot2/local_costmap/static_map: True
• /KoBot2/move_base_KoBot2/local_costmap/transform_tolerance: 0.5
• /KoBot2/move_base_KoBot2/local_costmap/update_frequency: 5.0
• /KoBot2/move_base_KoBot2/local_costmap/width: 4
• /KoBot2/move_base_KoBot2/recovery_behaviour_enabled: True
• /KoBot2/robot_description: <?xml version="1....
• /KoBot2/tf_prefix: KoBot2
• /rosdistro: kinetic
• /rosversion: 1.12.17
• /use_sim_time: True

NODES
/ABot/
ABot_st_pub (robot_state_publisher/robot_state_publisher)
laser_base_ABot_static_broadcaster (tf/static_transform_publisher)
map_odom_static_broadcaster (tf/static_transform_publisher)
mcl_pi_ABot (mcl_pi_gazebo/MCL_PI.py)
move_base_ABot (move_base/move_base)
spawn_ABot (gazebo_ros/spawn_model)
/KoBot/
KoBot_st_pub (robot_state_publisher/robot_state_publisher)
laser_base_KoBot_static_broadcaster (tf/static_transform_publisher)
map_odom_static_broadcaster (tf/static_transform_publisher)
mcl_pi_KoBot (mcl_pi_gazebo/MCL_PI.py)
move_base_KoBot (move_base/move_base)
spawn_KoBot (gazebo_ros/spawn_model)
/KoBot2/
KoBot2_st_pub (robot_state_publisher/robot_state_publisher)
laser_base_KoBot2_static_broadcaster (tf/static_transform_publisher)
map_odom_static_broadcaster (tf/static_transform_publisher)
mcl_pi_KoBot2 (mcl_pi_gazebo/MCL_PI.py)
move_base_KoBot2 (move_base/move_base)
spawn_KoBot2 (gazebo_ros/spawn_model)
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
map_server (map_server/map_server)
rviz_ABot (rviz/rviz)
rviz_KoBot (rviz/rviz)
rviz_KoBot2 (rviz/rviz)
world_map_static_broadcaster (tf/static_transform_publisher)

ROS_MASTER_URI=http://10.250.24.172:11311

process[gazebo-1]: started with pid [20477]
process[gazebo_gui-2]: started with pid [20482]
process[map_server-3]: started with pid [20487]
process[world_map_static_broadcaster-4]: started with pid [20488]
process[rviz_ABot-5]: started with pid [20509]
process[rviz_KoBot-6]: started with pid [20518]
process[rviz_KoBot2-7]: started with pid [20525]
process[ABot/map_odom_static_broadcaster-8]: started with pid [20526]
process[ABot/laser_base_ABot_static_broadcaster-9]: started with pid [20547]
process[ABot/ABot_st_pub-10]: started with pid [20548]
process[ABot/spawn_ABot-11]: started with pid [20551]
process[ABot/move_base_ABot-12]: started with pid [20559]
process[ABot/mcl_pi_ABot-13]: started with pid [20574]
process[KoBot/map_odom_static_broadcaster-14]: started with pid [20604]
process[KoBot/laser_base_KoBot_static_broadcaster-15]: started with pid [20620]
process[KoBot/KoBot_st_pub-16]: started with pid [20645]
process[KoBot/spawn_KoBot-17]: started with pid [20678]
process[KoBot/move_base_KoBot-18]: started with pid [20689]
process[KoBot/mcl_pi_KoBot-19]: started with pid [20709]
process[KoBot2/map_odom_static_broadcaster-20]: started with pid [20723]
process[KoBot2/laser_base_KoBot2_static_broadcaster-21]: started with pid [20730]
process[KoBot2/KoBot2_st_pub-22]: started with pid [20738]
process[KoBot2/spawn_KoBot2-23]: started with pid [20743]
process[KoBot2/move_base_KoBot2-24]: started with pid [20764]
process[KoBot2/mcl_pi_KoBot2-25]: started with pid [20777]
[ INFO] [1626426637.808048232]: rviz version 1.12.17
[ INFO] [1626426637.810770380]: compiled against Qt version 5.5.1
[ INFO] [1626426637.811638458]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1626426637.848844428]: rviz version 1.12.17
[ INFO] [1626426637.848886031]: compiled against Qt version 5.5.1
[ INFO] [1626426637.848898241]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1626426637.902457289]: rviz version 1.12.17
[ INFO] [1626426637.902608415]: compiled against Qt version 5.5.1
[ INFO] [1626426637.902685337]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1626426638.038727079]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1626426638.056592751]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1626426638.371156174]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1626426638.373366348]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
SpawnModel script started
[INFO] [1626426638.756171, 0.000000]: Loading model XML from ros parameter
[INFO] [1626426638.760453, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
SpawnModel script started
[INFO] [1626426639.013671, 0.000000]: Loading model XML from ros parameter
[INFO] [1626426639.021470, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
SpawnModel script started
[INFO] [1626426639.254321, 0.000000]: Loading model XML from ros parameter
[INFO] [1626426639.256773, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1626426641.017955024]: Stereo is NOT SUPPORTED
[ INFO] [1626426641.018097273]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1626426641.153057854]: Stereo is NOT SUPPORTED
[ INFO] [1626426641.153162177]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1626426641.169386029]: Stereo is NOT SUPPORTED
[ INFO] [1626426641.169545615]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1626426641.515864842]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1626426641.519530427]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1626426641.667084060, 0.082000000]: Physics dynamic reconfigure ready.
[INFO] [1626426641.674424, 0.089000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1626426641.674884701]: Physics dynamic reconfigure ready.
[INFO] [1626426641.749161, 0.162000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1626426641.778577, 0.188000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1626426642.022943934]: Creating 1 swatches
[ INFO] [1626426642.027643895]: Creating 1 swatches
[ INFO] [1626426642.032042404]: Creating 1 swatches
[INFO] [1626426642.485836, 0.200000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1626426642.491720091, 0.200000000]: Laser Plugin: Using the 'robotNamespace' param: '/KoBot/'
[ INFO] [1626426642.491768977, 0.200000000]: Starting Laser Plugin (ns = /KoBot/)
[ INFO] [1626426642.493347608, 0.200000000]: Laser Plugin (ns = /KoBot/) <tf_prefix_>, set to "/KoBot"
[ INFO] [1626426642.589428401, 0.200000000]: Starting plugin DiffDrive(ns = /KoBot//)
[ INFO] [1626426642.589491860, 0.200000000]: DiffDrive(ns = /KoBot//): = na
[ INFO] [1626426642.590734125, 0.200000000]: DiffDrive(ns = /KoBot//): <tf_prefix> = /KoBot
[ INFO] [1626426642.591958212, 0.200000000]: DiffDrive(ns = /KoBot//): Advertise joint_states
[ INFO] [1626426642.592847418, 0.200000000]: DiffDrive(ns = /KoBot//): Try to subscribe to cmd_vel
[ INFO] [1626426642.596043746, 0.200000000]: DiffDrive(ns = /KoBot//): Subscribe to cmd_vel
[ INFO] [1626426642.596780086, 0.200000000]: DiffDrive(ns = /KoBot//): Advertise odom on odom
[ INFO] [1626426643.474417043, 0.395000000]: Laser Plugin: Using the 'robotNamespace' param: '/KoBot2/'
[ INFO] [1626426643.474450804, 0.395000000]: Starting Laser Plugin (ns = /KoBot2/)
[ INFO] [1626426643.477142934, 0.395000000]: Laser Plugin (ns = /KoBot2/) <tf_prefix_>, set to "KoBot2"
[INFO] [1626426643.481851, 0.395000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1626426643.482051691, 0.395000000]: Starting plugin DiffDrive(ns = /KoBot2//)
[ INFO] [1626426643.482082463, 0.395000000]: DiffDrive(ns = /KoBot2//): = na
[ INFO] [1626426643.483895298, 0.395000000]: DiffDrive(ns = /KoBot2//): <tf_prefix> = KoBot2
[ INFO] [1626426643.485233987, 0.395000000]: DiffDrive(ns = /KoBot2//): Advertise joint_states
[ INFO] [1626426643.485487010, 0.395000000]: DiffDrive(ns = /KoBot2//): Try to subscribe to cmd_vel
[ INFO] [1626426643.488402515, 0.395000000]: DiffDrive(ns = /KoBot2//): Subscribe to cmd_vel
[ INFO] [1626426643.489097380, 0.395000000]: DiffDrive(ns = /KoBot2//): Advertise odom on odom
[ INFO] [1626426644.343331525, 0.557000000]: Laser Plugin: Using the 'robotNamespace' param: '/ABot/'
[ INFO] [1626426644.343364190, 0.557000000]: Starting Laser Plugin (ns = /ABot/)
[ INFO] [1626426644.344791730, 0.557000000]: Laser Plugin (ns = /ABot/) <tf_prefix_>, set to "/ABot"
[INFO] [1626426644.350425, 0.557000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1626426644.352061737, 0.557000000]: Starting plugin DiffDrive(ns = /ABot//)
[ INFO] [1626426644.352246385, 0.557000000]: DiffDrive(ns = /ABot//): = na
[ INFO] [1626426644.355901650, 0.557000000]: DiffDrive(ns = /ABot//): <tf_prefix> = /ABot
[ INFO] [1626426644.357687029, 0.557000000]: DiffDrive(ns = /ABot//): Advertise joint_states
[ INFO] [1626426644.357729182, 0.557000000]: DiffDrive(ns = /ABot//): Try to subscribe to cmd_vel
[ INFO] [1626426644.361522741, 0.557000000]: DiffDrive(ns = /ABot//): Subscribe to cmd_vel
[ INFO] [1626426644.362292047, 0.557000000]: DiffDrive(ns = /ABot//): Advertise odom on odom
[KoBot/spawn_KoBot-17] process has finished cleanly
log file: /home/liurui/.ros/log/faa8938a-e4a3-11eb-a57f-54271e0fd8b5/KoBot-spawn_KoBot-17*.log
[KoBot2/spawn_KoBot2-23] process has finished cleanly
log file: /home/liurui/.ros/log/faa8938a-e4a3-11eb-a57f-54271e0fd8b5/KoBot2-spawn_KoBot2-23*.log
[ABot/spawn_ABot-11] process has finished cleanly
log file: /home/liurui/.ros/log/faa8938a-e4a3-11eb-a57f-54271e0fd8b5/ABot-spawn_ABot-11*.log
[ WARN] [1626426651.013383092, 5.027000000]: Timed out waiting for transform from KoBot/base_KoBot to KoBot/map to become available before running costmap, tf error: canTransform: target_frame KoBot/map does not exist. canTransform: source_frame KoBot/base_KoBot does not exist.. canTransform returned after 0.102 timeout was 0.1.
[ WARN] [1626426651.013719580, 5.027000000]: Timed out waiting for transform from KoBot2/base_KoBot2 to KoBot2/map to become available before running costmap, tf error: canTransform: target_frame KoBot2/map does not exist. canTransform: source_frame KoBot2/base_KoBot2 does not exist.. canTransform returned after 0.102 timeout was 0.1.
[ WARN] [1626426651.014032638, 5.027000000]: Timed out waiting for transform from ABot/base_ABot to ABot/map to become available before running costmap, tf error: canTransform: target_frame ABot/map does not exist. canTransform: source_frame ABot/base_ABot does not exist.. canTransform returned after 0.102 timeout was 0.1.
[ WARN] [1626426658.411048173, 10.032000000]: Timed out waiting for transform from KoBot/base_KoBot to KoBot/map to become available before running costmap, tf error: canTransform: target_frame KoBot/map does not exist. canTransform: source_frame KoBot/base_KoBot does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1626426658.412815356, 10.033000000]: Timed out waiting for transform from KoBot2/base_KoBot2 to KoBot2/map to become available before running costmap, tf error: canTransform: target_frame KoBot2/map does not exist. canTransform: source_frame KoBot2/base_KoBot2 does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1626426658.413142775, 10.034000000]: Timed out waiting for transform from ABot/base_ABot to ABot/map to become available before running costmap, tf error: canTransform: target_frame ABot/map does not exist. canTransform: source_frame ABot/base_ABot does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1626426666.264628375, 15.046000000]: Timed out waiting for transform from ABot/base_ABot to ABot/map to become available before running costmap, tf error: canTransform: target_frame ABot/map does not exist. canTransform: source_frame ABot/base_ABot does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1626426666.264716551, 15.046000000]: Timed out waiting for transform from KoBot/base_KoBot to KoBot/map to become available before running costmap, tf error: canTransform: target_frame KoBot/map does not exist. canTransform: source_frame KoBot/base_KoBot does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1626426666.278072387, 15.053000000]: Timed out waiting for transform from KoBot2/base_KoBot2 to KoBot2/map to become available before running costmap, tf error: canTransform: target_frame KoBot2/map does not exist. canTransform: source_frame KoBot2/base_KoBot2 does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1626426673.478310644, 20.056000000]: Timed out waiting for transform from KoBot/base_KoBot to KoBot/map to become available before running costmap, tf error: canTransform: target_frame KoBot/map does not exist. canTransform: source_frame KoBot/base_KoBot does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1626426673.481622062, 20.059000000]: Timed out waiting for transform from ABot/base_ABot to ABot/map to become available before running costmap, tf error: canTransform: target_frame ABot/map does not exist. canTransform: source_frame ABot/base_ABot does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1626426673.500459744, 20.076000000]: Timed out waiting for transform from KoBot2/base_KoBot2 to KoBot2/map to become available before running costmap, tf error: canTransform: target_frame KoBot2/map does not exist. canTransform: source_frame KoBot2/base_KoBot2 does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1626426681.128945030, 25.057000000]: Timed out waiting for transform from KoBot/base_KoBot to KoBot/map to become available before running costmap, tf error: canTransform: target_frame KoBot/map does not exist. canTransform: source_frame KoBot/base_KoBot does not exist.. canTransform returned after 0.1 timeout was 0.1.
[ WARN] [1626426681.144849994, 25.072000000]: Timed out waiting for transform from ABot/base_ABot to ABot/map to become available before running costmap, tf error: canTransform: target_frame ABot/map does not exist. canTransform: source_frame ABot/base_ABot does not exist.. canTransform returned after 0.103 timeout was 0.1.

And the roswtf output:

(base) liurui@LR:~$ roswtf
Loaded plugin tf.tfwtf
No package or stack in context

Static checks summary:

No errors or warnings

Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete

Online checks 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:

• /rviz_KoBot2:
  • /KoBot2/move_base_KoBot2/TebLocalPlannerROS/local_plan
  • /KoBot2_PF/particlecloud
  • /map_updates
  • /KoBot2/move_base_KoBot2/TebLocalPlannerROS/global_plan
  • /KoBot2_PF/MCL_estimated_pose
• /rviz_KoBot:
  • /KoBot_PF/MCL_estimated_pose
  • /KoBot/move_base_KoBot/TebLocalPlannerROS/global_plan
  • /map_updates
  • /KoBot_PF/particlecloud
  • /KoBot/move_base_KoBot/TebLocalPlannerROS/local_plan
• /gazebo:
  • /gazebo/set_link_state
  • /gazebo/set_model_state
• /rviz_ABot:
  • /ABot/move_base_ABot/TebLocalPlannerROS/global_plan
  • /ABot/move_base_ABot/TebLocalPlannerROS/local_plan
  • /map_updates
  • /ABot_PF/particlecloud
  • /ABot_PF/MCL_estimated_pose

WARNING These nodes have died:

• KoBot/spawn_KoBot-17
• KoBot2/spawn_KoBot2-23
• ABot/spawn_ABot-11

Thank you very much!

[TalFeiner]

The problem you are having is caused due to incompatibility of this repository with your ROS version.
Fortunately, I have pc which is running with the same OS and ROS versions.
And I was able to test the repository, re-create your bug and fix it.
Please, check out ubuntu16 branch. Download it, compile it and try to run it again exactly the same as before.
You can try to use that command:
roslaunch mcl_pi_gazebo mcl_pi_move_base.launch
instead of:
roslaunch mcl_pi_move_base.launch
It should be easier to use and it should work.
Let me know if it works for you...

[TalFeiner]

Just to clarify, this was a quick fix.
There are still some issues with the tf tree, but the demo should work now.

[God-Ray]

The problem you are having is caused due to incompatibility of this repository with your ROS version.
Fortunately, I have pc which is running with the same OS and ROS versions.
And I was able to test the repository, re-create your bug and fix it.
Please, check out ubuntu16 branch. Download it, compile it and try to run it again exactly the same as before.
You can try to use that command:
roslaunch mcl_pi_gazebo mcl_pi_move_base.launch
instead of:
roslaunch mcl_pi_move_base.launch
It should be easier to use and it should work.
Let me know if it works for you...

Hello, what's the meaning of "check out ubuntu 16 branch.Download it and compile it"?
And I used the command :
roslaunch mcl_pi_gazebo mcl_pi_move_base.launch
instead of:
roslaunch mcl_pi_move_base.launch
but nothing changed, the robots in rviz and gazebo perform like before, cannot navigation and the same warning in the terminal like before.
I am confused of the difference of the two commands.
What should I do next?
Thank you very much.

[TalFeiner]

Try the following commands:

delete the old mcl_pi_gazebo repository:
cd ~/catkin_ws/src
rm -r mcl_pi_gazebo

download ubuntu16 branch:
git clone https://github.com/or-tal-robotics/mcl_pi_gazebo.git --branch ubuntu16

compile:
cd ..
catkin_make

Check out ubuntu16 branch: