Navigation tutorial: amcl problem ?

Hi there !

1. Which TurtleBot3 you have?

   • Burger
   • Waffle
   • Waffle Pi

2. Which SBC(Single Board Computer) is working on TurtleBot3?

   • Raspberry Pi 3
   • Intel Joule 570x
   • etc (PLEASE, WRITE DOWN YOUR SBC HERE)

3. Which OS you installed in SBC?

   • Ubuntu MATE 16.04 or later
   • Raspbian
   • etc (PLEASE, WRITE DOWN YOUR OS)

4. Which OS you installed in Remote PC?

   • Ubuntu 16.04 LTS (Xenial Xerus)
   • Ubuntu 18.04 LTS (Bionic Beaver)
   • Linux Mint 18.x
   • Xenial 16.04 + Kinetic, native on the TB3, inside a docker container (FROM osrf/ros:kinetic-desktop-full) on my Fedora 27 laptop

5. Write down software version and firmware version

   • Software version: [1.12.13 on both the TB3 and the docker container on my laptop]
   • Firmware version: [x.x.x]

6. Write down the commands you used in order

   • following the robotis tutorials:

     [laptop] roscore

     [tb3] roslaunch turtlebot3_bringup turtlebot3_robot.launch

     [laptop] roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

     I move the robot using the android app and when the map is complete I run:

     rosrun map_server map_saver -f ~/map

     Then I kill stop the former gmapping task, move the robot by hand to a reference place in the room, and launch the navigation task:

     roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/ros/map.yaml

7. Copy and Paste your error message on terminal

   I get the following warnings from the navigation task:

   • “could not get robot pose, cancelling reconfiguration”
   • “Costmap2DROS transform timeout. Current time: 153253596.3332, global_pose_stamp: 1532353713.8062, tolerance: 0.5000”

8. Please, describe detailedly what difficulty you are in

   • Then in RViz I click to set the 2D Pose Estimate, I iterate to align laserscan dots with the occupancy map. The problem is that when I set a nav goal or move the robot by teleoperation, the robot does not move on the map. And I get warning over and over in the console.

I’m pretty new to ROS but as the robot does not move on the map, I feel like the amcl is not working for some reason. How to troubleshoot and fix ? I’m starting to feel like a turtle without salad !

DoNcK

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Some screenshots and extra info:

Screenshot of RViz after manual aligning:

Screenshot of RViz after waiting 1 minute (no visible changes except warning in console) and then moving the robot:

Strange stuffs I noticed:

rostopic hz /amcl_pose => no new messages

and on roswtf:

WARNING The following nodes are unexpectedly connected:
 * /robot_state_publisher->/rqt_gui_py_node_13192 (/tf_static)


Found 1 error(s).

ERROR The following nodes should be connected but aren't:
 * /move_base->/move_base (/move_base/global_costmap/footprint)
 * /move_base->/move_base (/move_base/local_costmap/footprint)

[DoNck]

youtube video with particle cloud (in red) updating and converging to robot position

[florianspy]

Furthermore when you use the rviz to set an inital pose check if your Fixed Frame setting in rviz is set to “map”, otherwise the inital pose message send out by rviz will be wrong