Hi,<div>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.</div><div>From what i could see using rxgraph, i&#39;m getting the following messages into move_base:</div>
<div><br></div><div>1) Odometry</div><div>2) Odometry tf </div><div>3) laser tf (base_link to base_laser)</div><div>4) laserscan</div><div><br></div><div>I&#39;m not using a static map, so I removd amcl from move_base.launch.</div>
<div>When i start the move_base.launch file, i get the following:</div><div><br></div><div><div>[ INFO] 1271252548.078700000: Subscribed to Topics: laser_scan_sensor</div><div>[ INFO] 1271252548.178918000: MAP SIZE: 199, 199</div>
<div>[ INFO] 1271252548.185354000: Subscribed to Topics: laser_scan_sensor</div><div>[ 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.</div>
</div><div><br></div><div>Using rxloggerlevel to debug, here&#39;s the output:</div><div><br></div><div><div>[DEBUG] 1271251959.320831000: MessageNotifier [topic=scan, target=/odom /base_laser ]: Added message in frame laser at time 1271251959.264, count now 50</div>
<div>[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)</div></div><div><br></div><div>
<div>[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</div>
</div><div><br></div><div>Also, to view the laser scan image in rviz, i get the following error:</div><div><br></div><div>TOPIC : No messages received</div><div>Transform[sender=/laser] : For frame [laser]: Frame [laser] does not exist</div>
<div><br></div><div><br></div><div>Any suggestions?</div><div><br><div class="gmail_quote">On Wed, Apr 14, 2010 at 1:01 AM, Eitan Marder-Eppstein <span dir="ltr">&lt;<a href="mailto:eitan@willowgarage.com">eitan@willowgarage.com</a>&gt;</span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">Hitesh,<br><br>If you&#39;re trying to run the navigation stack on your own robot, I&#39;d suggest reading the following tutorial first, <a href="http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/" target="_blank">http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/</a>, as it will explain how the pieces of the navigation stack work and how you&#39;ll need to configure your robot.<br>

<br>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&#39;s expected.<br><br>Hopefully, the tutorial will help, feel free to post again if you have other questions,<br>

<br>Eitan<br><br><div class="gmail_quote"><div><div></div><div class="h5">On Tue, Apr 13, 2010 at 5:49 AM, hitesh dhiman <span dir="ltr">&lt;<a href="mailto:hitesh.dhiman.1988@gmail.com" target="_blank">hitesh.dhiman.1988@gmail.com</a>&gt;</span> wrote:<br>
</div></div><blockquote class="gmail_quote" style="border-left:1px solid rgb(204, 204, 204);margin:0pt 0pt 0pt 0.8ex;padding-left:1ex"><div><div></div><div class="h5">
Hi all,<div>I&#39;ve been trying to run the navigation stack. However, upon running move_base.launch, i get the following message:</div><div><br></div><div><div>[ WARN] 1271162502.543875000: Costmap2DROS transform timeout. Current time: 1271162502.5438, global_pose stamp: 1271162501.8677, tolerance: 0.3000</div>


<div><br></div><div>I tried changing the tolerance value to 1. move_base.launch starts with the following:</div><div><div>[ INFO] 1271162733.968657000: Subscribed to Topics: laser_scan_sensor</div><div>[ INFO] 1271162734.066727000: MAP SIZE: 199, 199</div>


</div><div><br></div><div>A second later, i start getting these messages:</div><div><br></div><div><div><div>[ 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.</div>


</div></div><div><br></div><div>rxconsole gives the following:</div><div>Request for map failed, trying again...  Warn /amcl</div><div>This could be because i&#39;m not using any static map. Even so, move_base is not publishing any messages out.</div>


<div><br></div><div>Any help would be appreciated. I&#39;m not able to figure out where the problem is.</div><br>-- <br>Regards,<br>Hitesh Dhiman<br>Electrical Engineering<br>National University of Singapore<br>
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<br></blockquote></div><br><br clear="all"><br>-- <br>Regards,<br>Hitesh Dhiman<br>Electrical Engineering<br>National University of Singapore<br>
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