[ros-users] Problem with pr2_controllers Tutorial

[John Hsu]

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 <lizajane999 at gmail.com> 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 at hawaii.edu
> lizajane999 at gmail.com
>
> (808) 220-9029
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
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