Failing with transform between '/map' and '/base_link',

Help
1

My Rosbot 2.0 Pro was working OK but has suddenly failed to run the webui demo.

When starting it gets stuck with the messages:

[ WARN] [1561787203.473128425]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561787204.473523964]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561787205.473912928]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561787206.101752659]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100472 timeout was 0.1.
[ WARN] [1561787206.246949917]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between ‘map’ and ‘base_link’ because they are not part of the same tree.Tf has two or more unconnected trees… canTransform returned after 0.100291 timeout was 0.1.
[ WARN] [1561787206.474313539]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1561787207.474960581]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second

The only thing I have changed since it was working fine is:

Increased the width and height in the global_costmap_params - which I have changed back with no impact.

and some tests in index.html in the edit folder to try and add some of my own, new functionality. (A new button) but I have also taken that out again.

Neither of these would appear to impact the mapping I would think. I can’t see what else could have changed to break it?

Any clues?

Thanks.

2

I have also tried doing a fresh

git clone GitHub - husarion/rosbot_webui
git clone GitHub - husarion/husarion_ros: Package containing some nodes specific for Husarion robots.

and

catkin_make

but it is the same …

I cant see what else i could have broken …

3

image
image832×500 25.3 KB

4

And this is the startup messages leading up to the first failure message:

husarion@husarion:~$ roslaunch rosbot_webui demo_rosbot_pro.launch
… logging to /home/husarion/.ros/log/e13eadec-9add-11e9-be0f-7cdd90dcb3c5/roslaunch-husarion-2742.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://husarion:41373/

SUMMARY

PARAMETERS

  • /camera/camera_nodelet_manager/num_worker_threads: 4
  • /camera/depth_rectify_depth/interpolation: 0
  • /camera/driver/auto_exposure: True
  • /camera/driver/auto_white_balance: True
  • /camera/driver/bootorder: 0
  • /camera/driver/color_depth_synchronization: False
  • /camera/driver/depth_camera_info_url:
  • /camera/driver/depth_frame_id: camera_depth_opti…
  • /camera/driver/depth_registration: False
  • /camera/driver/device_id: #1
  • /camera/driver/devnums: 1
  • /camera/driver/rgb_camera_info_url:
  • /camera/driver/rgb_frame_id: camera_rgb_optica…
  • /explore_server/explore_costmap/explore_boundary/explore_clear_space: False
  • /explore_server/explore_costmap/explore_boundary/frontier_travel_point: middle
  • /explore_server/explore_costmap/explore_boundary/resize_to_boundary: False
  • /explore_server/explore_costmap/footprint: [[0.1, 0.12], [0…
  • /explore_server/explore_costmap/global_frame: map
  • /explore_server/explore_costmap/inflation/inflation_radius: 0.2
  • /explore_server/explore_costmap/plugins: [{‘type’: 'costma…
  • /explore_server/explore_costmap/publish_frequency: 5
  • /explore_server/explore_costmap/robot_base_frame: base_link
  • /explore_server/explore_costmap/static/map_topic: /map
  • /explore_server/explore_costmap/static/subscribe_to_updates: True
  • /explore_server/explore_costmap/transform_tolerance: 5
  • /explore_server/explore_costmap/update_frequency: 5
  • /explore_server/frequency: 1.0
  • /explore_server/goal_aliasing: 0.1
  • /move_base/TrajectoryPlannerROS/acc_lim_Y: 2.5
  • /move_base/TrajectoryPlannerROS/acc_lim_theta: 0.25
  • /move_base/TrajectoryPlannerROS/acc_lim_x: 2.5
  • /move_base/TrajectoryPlannerROS/holonomic_robot: False
  • /move_base/TrajectoryPlannerROS/max_vel_theta: 0.35
  • /move_base/TrajectoryPlannerROS/max_vel_x: 0.2
  • /move_base/TrajectoryPlannerROS/meter_scoring: True
  • /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.25
  • /move_base/TrajectoryPlannerROS/min_vel_theta: -0.35
  • /move_base/TrajectoryPlannerROS/min_vel_x: 0.1
  • /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.15
  • /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.25
  • /move_base/controller_frequency: 10.0
  • /move_base/global_costmap/always_send_full_costmap: True
  • /move_base/global_costmap/footprint: [[0.1, 0.12], [0…
  • /move_base/global_costmap/global_frame: map
  • /move_base/global_costmap/height: 50
  • /move_base/global_costmap/inflation_radius: 0.7
  • /move_base/global_costmap/laser_scan_sensor/clearing: True
  • /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan
  • /move_base/global_costmap/laser_scan_sensor/marking: True
  • /move_base/global_costmap/laser_scan_sensor/sensor_frame: laser
  • /move_base/global_costmap/laser_scan_sensor/topic: scan
  • /move_base/global_costmap/map_topic: /map
  • /move_base/global_costmap/observation_sources: laser_scan_sensor
  • /move_base/global_costmap/obstacle_range: 6.0
  • /move_base/global_costmap/origin_x: -2.5
  • /move_base/global_costmap/origin_y: -2.5
  • /move_base/global_costmap/publish_frequency: 1
  • /move_base/global_costmap/raytrace_range: 8.0
  • /move_base/global_costmap/resolution: 0.01
  • /move_base/global_costmap/robot_base_frame: base_link
  • /move_base/global_costmap/rolling_window: True
  • /move_base/global_costmap/static_map: False
  • /move_base/global_costmap/subscribe_to_updates: True
  • /move_base/global_costmap/transform_tolerance: 5
  • /move_base/global_costmap/update_frequency: 1
  • /move_base/global_costmap/width: 50
  • /move_base/local_costmap/always_send_full_costmap: True
  • /move_base/local_costmap/footprint: [[0.1, 0.12], [0…
  • /move_base/local_costmap/global_frame: map
  • /move_base/local_costmap/height: 3
  • /move_base/local_costmap/inflation_radius: 0.4
  • /move_base/local_costmap/laser_scan_sensor/clearing: True
  • /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan
  • /move_base/local_costmap/laser_scan_sensor/marking: True
  • /move_base/local_costmap/laser_scan_sensor/sensor_frame: laser
  • /move_base/local_costmap/laser_scan_sensor/topic: scan
  • /move_base/local_costmap/map_topic: /map
  • /move_base/local_costmap/observation_sources: laser_scan_sensor
  • /move_base/local_costmap/obstacle_range: 6.0
  • /move_base/local_costmap/origin_x: -1.5
  • /move_base/local_costmap/origin_y: -1.5
  • /move_base/local_costmap/publish_frequency: 2.5
  • /move_base/local_costmap/raytrace_range: 8.0
  • /move_base/local_costmap/resolution: 0.01
  • /move_base/local_costmap/robot_base_frame: base_link
  • /move_base/local_costmap/rolling_window: True
  • /move_base/local_costmap/static_map: False
  • /move_base/local_costmap/subscribe_to_updates: True
  • /move_base/local_costmap/transform_tolerance: 5
  • /move_base/local_costmap/update_frequency: 2.5
  • /move_base/local_costmap/width: 3
  • /move_base/recovery_behavior_enabled: True
  • /rosapi/params_glob: [*]
  • /rosapi/services_glob: [*]
  • /rosapi/topics_glob: [*]
  • /rosbridge_websocket/address:
  • /rosbridge_websocket/authenticate: False
  • /rosbridge_websocket/bson_only_mode: False
  • /rosbridge_websocket/delay_between_messages: 0
  • /rosbridge_websocket/fragment_timeout: 600
  • /rosbridge_websocket/max_message_size: None
  • /rosbridge_websocket/params_glob: [*]
  • /rosbridge_websocket/port: 9090
  • /rosbridge_websocket/retry_startup_delay: 5
  • /rosbridge_websocket/services_glob: [*]
  • /rosbridge_websocket/topics_glob: [*]
  • /rosbridge_websocket/unregister_timeout: 10
  • /rosbridge_websocket/use_compression: False
  • /rosdistro: kinetic
  • /rosversion: 1.12.14
  • /rplidarNode/angle_compensate: True
  • /rplidarNode/frame_id: laser
  • /rplidarNode/inverted: False
  • /rplidarNode/scan_mode: Sensitivity
  • /rplidarNode/serial_baudrate: 256000
  • /rplidarNode/serial_port: /dev/ttyUSB0
  • /webvideo4/address: ::
  • /webvideo4/port: 8082

NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_sw_metric_rect (nodelet/nodelet)
driver (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
rgb_rectify_color (nodelet/nodelet)
/
ROSbot2_camera (tf/static_transform_publisher)
ROSbot2_laser (tf/static_transform_publisher)
bridge (rosbot_webui/serial_bridge.sh)
camera_base_link (tf/static_transform_publisher)
camera_base_link1 (tf/static_transform_publisher)
camera_base_link2 (tf/static_transform_publisher)
camera_base_link3 (tf/static_transform_publisher)
depth_clipping_node (husarion_ros/depth_clipping_node)
explore_client (frontier_exploration/explore_client)
explore_server (frontier_exploration/explore_server)
gmapping_supervisor (rosbot_webui/gmapping_supervisor.py)
move_base (move_base/move_base)
pose_to_tf_transform (rosbot_webui/pose_to_tf_transform)
rosapi (rosapi/rosapi_node)
rosbridge_websocket (rosbridge_server/rosbridge_websocket)
rplidarNode (rplidar_ros/rplidarNode)
tf_to_pose (rosbot_webui/tf_to_pose)
webvideo4 (web_video_server/web_video_server)
wifi_publisher (husarion_ros/wifi.py)

auto-starting new master
process[master]: started with pid [3045]
ROS_MASTER_URI=http://master:11311

setting /run_id to e13eadec-9add-11e9-be0f-7cdd90dcb3c5
process[rosout-1]: started with pid [3149]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [3178]
process[camera/driver-3]: started with pid [3182]
process[camera/rgb_rectify_color-4]: started with pid [3185]
process[camera/depth_rectify_depth-5]: started with pid [3187]
process[camera/depth_metric_rect-6]: started with pid [3202]
process[camera/depth_metric-7]: started with pid [3216]
process[camera/depth_points-8]: started with pid [3233]
process[camera/register_depth_rgb-9]: started with pid [3248]
process[camera/points_xyzrgb_sw_registered-10]: started with pid [3265]
process[camera/depth_registered_sw_metric_rect-11]: started with pid [3281]
process[camera_base_link-12]: started with pid [3296]
process[camera_base_link1-13]: started with pid [3303]
process[camera_base_link2-14]: started with pid [3319]
process[camera_base_link3-15]: started with pid [3325]
process[rplidarNode-16]: started with pid [3351]
[ INFO] [1561861340.976299447]: Initializing nodelet with 4 worker threads.
process[bridge-17]: started with pid [3370]
process[wifi_publisher-18]: started with pid [3383]
process[ROSbot2_laser-19]: started with pid [3389]
process[ROSbot2_camera-20]: started with pid [3398]
process[pose_to_tf_transform-21]: started with pid [3412]
process[tf_to_pose-22]: started with pid [3442]
process[depth_clipping_node-23]: started with pid [3447]
process[move_base-24]: started with pid [3456]
process[gmapping_supervisor-25]: started with pid [3471]
process[explore_client-26]: started with pid [3490]
process[explore_server-27]: started with pid [3492]
process[webvideo4-28]: started with pid [3501]
process[rosbridge_websocket-29]: started with pid [3514]
process[rosapi-30]: started with pid [3524]
[ INFO] [1561861342.422112629]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.9.0
[ INFO] [1561861342.424126667]: Please use the ‘Point’ tool in Rviz to select an exporation boundary.
[ WARN] [1561861342.594719473]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second

5

Hi Barry,

May I ask you to flash template “ROSbot 2.0 PRO default firmware” to your robot? Problem may be caused by some changes that we made in firmware from time you bought ROSbot.

Please let me know the results.

Best regards,
Hubert

6

Hi. That sounds likely - I was trying to get the cloud IDE system working (without luck - but that is another thread i think!) and i did load the “Load firmware 2019-5-17” project … so has that broken it?

Can you please advise or point me to instructions how “to flash template “ROSbot 2.0 PRO default firmware” to your robot”???

I assume you want me to roll back to an older version? How do I do that??

Barry

7

Hi Barry,

You just need to follow this tutorial on your ROSbot but in section “Writing your first program” chose template number 12 instead of 01. In case of any question please let me know.

Best regards,
Hubert

8

Fixed … thanks.

Although I don’t understand how it broke and why reloading what looks like the same firmware has fixed it?

Regards.