Hi, actually i did use the tutorial to configure the robot. My setup is almost the same as the files listed in the tutorial, except that the costmap configuration is set to a differential robot. >From what i could see using rxgraph, i'm getting the following messages into move_base: 1) Odometry 2) Odometry tf 3) laser tf (base_link to base_laser) 4) laserscan I'm not using a static map, so I removd amcl from move_base.launch. When i start the move_base.launch file, i get the following: [ INFO] 1271252548.078700000: Subscribed to Topics: laser_scan_sensor [ INFO] 1271252548.178918000: MAP SIZE: 199, 199 [ INFO] 1271252548.185354000: Subscribed to Topics: laser_scan_sensor [ WARN] 1271252563.370080000: MessageNotifier [topic=scan, target=/base_laser /base_laser ]: Dropped 100.00% of messages so far. Please turn the [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for more information. Using rxloggerlevel to debug, here's the output: [DEBUG] 1271251959.320831000: MessageNotifier [topic=scan, target=/odom /base_laser ]: Added message in frame laser at time 1271251959.264, count now 50 [DEBUG] 1271251959.320973000: MessageNotifier [topic=scan, target=/odom /base_laser ]: Removed oldest message because buffer is full, count now 50 (frame_id=laser, stamp=1271251958.043920) [DEBUG] 1271251959.599588000: MessageNotifier [topic=scan, target=/base_laser /base_laser ]: Successful Transforms: 0, Failed Transforms: 4051196, Discarded due to age: 0, Transform messages received: 67611, Messages received: 26918, Total dropped: 26868 Also, to view the laser scan image in rviz, i get the following error: TOPIC : No messages received Transform[sender=/laser] : For frame [laser]: Frame [laser] does not exist Any suggestions? On Wed, Apr 14, 2010 at 1:01 AM, Eitan Marder-Eppstein < eitan@willowgarage.com> wrote: > Hitesh, > > If you're trying to run the navigation stack on your own robot, I'd suggest > reading the following tutorial first, > http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/, as it will > explain how the pieces of the navigation stack work and how you'll need to > configure your robot. > > From the errors you listed, it looks like your robot may not be publishing > odometry information to the navigation stack. Also, amcl will not work > without a static map... so that's expected. > > Hopefully, the tutorial will help, feel free to post again if you have > other questions, > > Eitan > > On Tue, Apr 13, 2010 at 5:49 AM, hitesh dhiman < > hitesh.dhiman.1988@gmail.com> wrote: > >> Hi all, >> I've been trying to run the navigation stack. However, upon running >> move_base.launch, i get the following message: >> >> [ WARN] 1271162502.543875000: Costmap2DROS transform timeout. Current >> time: 1271162502.5438, global_pose stamp: 1271162501.8677, tolerance: 0.3000 >> >> I tried changing the tolerance value to 1. move_base.launch starts with >> the following: >> [ INFO] 1271162733.968657000: Subscribed to Topics: laser_scan_sensor >> [ INFO] 1271162734.066727000: MAP SIZE: 199, 199 >> >> A second later, i start getting these messages: >> >> [ WARN] 1271162749.245438000: MessageNotifier [topic=scan, target=/odom >> /base_laser ]: Dropped 100.00% of messages so far. Please turn the >> [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for more >> information. >> >> rxconsole gives the following: >> Request for map failed, trying again... Warn /amcl >> This could be because i'm not using any static map. Even so, move_base is >> not publishing any messages out. >> >> Any help would be appreciated. I'm not able to figure out where the >> problem is. >> >> -- >> Regards, >> Hitesh Dhiman >> Electrical Engineering >> National University of Singapore >> >> >> ------------------------------------------------------------------------------ >> Download Intel® Parallel Studio Eval >> Try the new software tools for yourself. Speed compiling, find bugs >> proactively, and fine-tune applications for parallel performance. >> See why Intel Parallel Studio got high marks during beta. >> http://p.sf.net/sfu/intel-sw-dev >> _______________________________________________ >> ros-users mailing list >> ros-users@lists.sourceforge.net >> https://lists.sourceforge.net/lists/listinfo/ros-users >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -- Regards, Hitesh Dhiman Electrical Engineering National University of Singapore