Hi Lisa, Can you try and change the timeout duration to something longer, e.g. (line 30 of the tutorial) //wait for the listener to get the first message listener_.waitForTransform("base_footprint", "odom_combined", ros::Time(0), ros::Duration(1000.0)); and try again? Also, looks like the tutorial needs the following remapping to work with the PR2 default base controller: bin/drive_base cmd_vel:=base_controller/command John On Wed, Sep 22, 2010 at 10:24 PM, Lisa Miller wrote: > I'm a new ROS user and have been going through the tutorials. I'm having > problems with the pr2_controllers "Using the base controller with odometry > and transform information" tutorial. > > I'm running the pr2 in Gazebo and successfully did the previous tutorial > where you control the robot with the keyboard, but when I try to run the > drive_base file I've copy/pasted from this tutorial it fails with this > error: > > $ bin/drive_base > terminate called after throwing an instance of 'tf::LookupException' > what(): Frame id /base_footprint does not exist! When trying to > transform between /odom_combined and /base_footprint. > Aborted > > I tried to debug using tf_echo and tf_monitor but I can't figure it out > since tf seems to think base_footprint is there > > rosrun tf tf_echo base_footprint odom_combined > At time 534.960 > - Translation: [-0.000, -0.000, 0.000] > - Rotation: in Quaternion [0.000, 0.000, 0.002, 1.000] > in RPY [0.000, 0.000, 0.004] > At time 535.705 > - Translation: [0.000, -0.000, -0.000] > - Rotation: in Quaternion [-0.000, 0.000, 0.002, 1.000] > in RPY [-0.000, 0.000, 0.004] > > rosrun tf tf_monitor /base_footprint /odom_combined > Waiting for transform chain to become available between /base_footprint and > /odom_combined > > > > RESULTS: for /base_footprint to /odom_combined > Chain is: /base_footprint -> /odom_combined > Net delay avg = 0.013132: max = 0.098 > > Frames: > Frame: /base_footprint published by /robot_pose_ekf Average Delay: > 0.0491667 Max Delay: 0.059 > > All Broadcasters: > Node: /robot_pose_ekf 32.6087 Hz, Average Delay: 0.0491667 Max Delay: 0.059 > Node: /robot_state_publisher 55.2147 Hz, Average Delay: 0.0177567 Max > Delay: 0.04 > > > I'm running Cturtle from the Ubuntu repositories with Ubuntu 10.04 64-bit. > This error happened before and after the update that came out today. > > My file is located in the directory I made for my own packages > ~/ros/stacks/drive_base_tutorials/ > > My ROS_PACKAGE_PATH is: > echo $ROS_PACKAGE_PATH > /home/lizajane999/ros/stacks:/opt/ros/cturtle/stacks > > Sorry if this is an obvious newbie mistake! I can't find it. > > > > Lisa J. Miller > > Graduate Research Assistant > Information and Computer Sciences Dept. > University of Hawaii at Manoa > > lisa.miller@hawaii.edu > lizajane999@gmail.com > > (808) 220-9029 > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >