[Solved] Loading Predefined Map in Rosbot for Path Planning

Software
1

I was working on this PATH PLANNING Tutorilal.

As the is preparing a map and avoiding obstacles while doing path planning using this launch file.

<arg name="use_rosbot" default="true"/>
<arg name="use_gazebo" default="false"/>

<include if="$(arg use_gazebo)" file="$(find rosbot_gazebo)/launch/maze_world.launch"/>
<include if="$(arg use_gazebo)" file="$(find rosbot_gazebo)/launch/rosbot.launch"/>

<param if="$(arg use_gazebo)" name="use_sim_time" value="true"/>

<node if="$(arg use_rosbot)" pkg="rplidar_ros" type="rplidarNode" name="rplidar">
    <param name="angle_compensate" type="bool" value="true"/>
    <param name="serial_baudrate" type="int" value="115200"/><!--model A2 (ROSbot 2.0) -->
    <!--<param name="serial_baudrate" type="int" value="256000"/>--><!-- model A3 (ROSbot 2.0 PRO) -->
</node>

<node if="$(arg use_rosbot)" pkg="tutorial_pkg" type="drive_controller_node" name="drive_controller"/>

<node if="$(arg use_rosbot)" pkg="tf" type="static_transform_publisher" name="laser_broadcaster" args="0 0 0 3.14 0 0 base_link laser_frame 100" />

<node pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" name="teleop_twist_keyboard" output="screen"/>

<node pkg="rviz" type="rviz" name="rviz"/>

<node pkg="gmapping" type="slam_gmapping" name="gmapping">
    <param name="base_frame" value="base_link"/>
    <param name="odom_frame" value="odom" />
    <param name="delta" value="0.1" />
</node>

<node pkg="move_base" type="move_base" name="move_base" output="screen">
    <param name="controller_frequency" value="10.0"/>
    <rosparam file="$(find tutorial_pkg)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find tutorial_pkg)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find tutorial_pkg)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find tutorial_pkg)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find tutorial_pkg)/config/trajectory_planner.yaml" command="load" />
</node>

I am interested in loading a predefined map which I created during gmaping tutorial and I saved using

rosrun map_server map_saver -f ~/path_to_the_directory/test-map

I want run path planning on this map which is already stored.

How to make this work ?

Does using the following command work

rosrun map_server map_server ~/path_to_the_directory/test-map.yaml

Or Do I need to change the launch file in any way ?

2

Hello Pradeep_BV,

By default, in launch file, there is included gmapping node, which is publishing map with each position or observation update.
The map_server node which you are trying to use, is loading and publishing map only once.

When you use command rosrun map_server map_server ~/path_to_the_directory/test-map.yaml, end effect is that map loaded by map_server gets overridden by gmapping.

To change that behaviour, you need to disable gmapping in launch file. Find lines:

<node pkg="gmapping" type="slam_gmapping" name="gmapping">
    <param name="base_frame" value="base_link"/>
    <param name="odom_frame" value="odom" />
    <param name="delta" value="0.1" />
</node>

and comment them out or delete.

Then you need to add map_server for map publishing:

<arg name="map_file" default="~/path_to_the_directory/test-map.yaml"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

And amcl for localization:

<node pkg="amcl" type="amcl" name="amcl" output="screen">
    <remap from="scan" to="/scan"/>
    <param name="odom_frame_id" value="odom"/>
    <param name="odom_model_type" value="diff-corrected"/>
    <param name="base_frame_id" value="base_link"/>
    <param name="update_min_d" value="0.5"/>
    <param name="update_min_a" value="1.0"/>
</node>

For AMCL to work properly, starting position of ROSbot should be equal to map origin. Otherwise, it may take some time to determine correct position on the map.

Regards,
Łukasz

3

Hi Lukasz,

Thank You for the timely Help.

4

Hi Pradeep.

It looks like we are chasing the same challenge - I have a thread active on the same subject here:

Thread.

I have got the map loading but cant seem to localise in the pre-saved map…

Barry

5

Hi Lukasz,

Following your suggestion I created a localization.launch file as below.
> 

<arg name="use_rosbot" default="true"/>
<arg name="use_gazebo" default="false"/>

<include if="$(arg use_gazebo)" file="$(find rosbot_gazebo)/launch/maze_world.launch"/>
<include if="$(arg use_gazebo)" file="$(find rosbot_gazebo)/launch/rosbot.launch"/>

<param if="$(arg use_gazebo)" name="use_sim_time" value="true"/>

<node if="$(arg use_rosbot)" pkg="rplidar_ros" type="rplidarNode" name="rplidar">
    <param name="angle_compensate" type="bool" value="true"/>
    <!--<param name="serial_baudrate" type="int" value="115200"/>--><!--model A2 (ROSbot 2.0) -->
    <param name="serial_baudrate" type="int" value="256000"/><!-- model A3 (ROSbot 2.0 PRO) -->
</node>

<node if="$(arg use_rosbot)" pkg="tutorial_pkg" type="drive_controller_node" name="drive_controller"/>

<node if="$(arg use_rosbot)" pkg="tf" type="static_transform_publisher" name="laser_broadcaster" args="0 0 0 3.14 0 0 base_link laser_frame 100" />

<node pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" name="teleop_twist_keyboard" output="screen"/>

<node pkg="rviz" type="rviz" name="rviz"/>
<arg name="map_file" default="/home/husarion/ros_workspace/src/rosbot_slam/maps/19-07-10-Test-0_2-Teleop-Speed.yaml"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

<node pkg="amcl" type="amcl" name="amcl" output="screen">
    <remap from="scan" to="/scan"/>
    <param name="odom_frame_id" value="odom"/>
    <param name="odom_model_type" value="diff-corrected"/>
    <param name="base_frame_id" value="base_link"/>
    <param name="update_min_d" value="0.5"/>
    <param name="update_min_a" value="1.0"/>
</node>

<node pkg="move_base" type="move_base" name="move_base" output="screen">
    <param name="controller_frequency" value="10.0"/>
    <rosparam file="$(find rosbot_slam)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find rosbot_slam)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find rosbot_slam)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find rosbot_slam)/config/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find rosbot_slam)/config/trajectory_planner.yaml" command="load" />
</node>
</launch>

I strated ros serial node as follows

/opt/husarion/tools/rpi-linux/ros-core2-client /dev/ttyCORE2

On starting the localization file using

roslaunch rosbot_slam localization.launch

I get the following error

… logging to /home/husarion/.ros/log/b7bce0a2-a798-11e9-8554-70f11c0553cc/roslaunch-husarion-UP-CHT01-2222.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-UP-CHT01:45301/

SUMMARY

PARAMETERS

  • /amcl/base_frame_id: base_link
  • /amcl/odom_frame_id: odom
  • /amcl/odom_model_type: diff-corrected
  • /amcl/update_min_a: 1.0
  • /amcl/update_min_d: 0.5
  • /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: [[0.12, 0.14], [0…
  • /move_base/global_costmap/global_frame: map
  • /move_base/global_costmap/height: 15
  • /move_base/global_costmap/inflation_radius: 2.5
  • /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_frame
  • /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: -7.5
  • /move_base/global_costmap/origin_y: -7.5
  • /move_base/global_costmap/publish_frequency: 2.5
  • /move_base/global_costmap/raytrace_range: 8.5
  • /move_base/global_costmap/resolution: 0.1
  • /move_base/global_costmap/robot_base_frame: base_link
  • /move_base/global_costmap/rolling_window: True
  • /move_base/global_costmap/static_map: True
  • /move_base/global_costmap/subscribe_to_updates: True
  • /move_base/global_costmap/transform_tolerance: 0.5
  • /move_base/global_costmap/update_frequency: 2.5
  • /move_base/global_costmap/width: 15
  • /move_base/local_costmap/always_send_full_costmap: True
  • /move_base/local_costmap/footprint: [[0.12, 0.14], [0…
  • /move_base/local_costmap/global_frame: map
  • /move_base/local_costmap/height: 3
  • /move_base/local_costmap/inflation_radius: 0.6
  • /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_frame
  • /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: 5
  • /move_base/local_costmap/raytrace_range: 8.5
  • /move_base/local_costmap/resolution: 0.1
  • /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: 0.25
  • /move_base/local_costmap/update_frequency: 5
  • /move_base/local_costmap/width: 3
  • /rosdistro: kinetic
  • /rosversion: 1.12.14
  • /rplidar/angle_compensate: True
  • /rplidar/serial_baudrate: 256000

NODES
/
amcl (amcl/amcl)
drive_controller (tutorial_pkg/drive_controller_node)
laser_broadcaster (tf/static_transform_publisher)
map_server (map_server/map_server)
move_base (move_base/move_base)
rplidar (rplidar_ros/rplidarNode)
rviz (rviz/rviz)
teleop_twist_keyboard (teleop_twist_keyboard/teleop_twist_keyboard.py)

auto-starting new master
process[master]: started with pid [2233]
ROS_MASTER_URI=http://master:11311

setting /run_id to b7bce0a2-a798-11e9-8554-70f11c0553cc
process[rosout-1]: started with pid [2256]
started core service [/rosout]
process[rplidar-2]: started with pid [2274]
process[drive_controller-3]: started with pid [2275]
process[laser_broadcaster-4]: started with pid [2288]
process[teleop_twist_keyboard-5]: started with pid [2294]
process[rviz-6]: started with pid [2315]
process[map_server-7]: started with pid [2323]
process[amcl-8]: started with pid [2324]
process[move_base-9]: started with pid [2325]
[ERROR] [1563261000.516709656]: failed to open image file “/home/husarion/ros_workspace/src/rosbot_slam/test3.pgm”: Couldn’t open /home/husarion/ros_workspace/src/rosbot_slam/test3.pgm
[ INFO] [1563261000.965074495]: Requesting the map…
[ WARN] [1563261000.967836340]: Request for map failed; trying again…
[map_server-7] process has died [pid 2323, exit code 255, cmd /opt/ros/kinetic/lib/map_server/map_server /home/husarion/ros_workspace/src/rosbot_slam/maps/19-07-10-Test-0_2-Teleop-Speed.yaml __name:=map_server __log:=/home/husarion/.ros/log/b7bce0a2-a798-11e9-8554-70f11c0553cc/map_server-7.log].
log file: /home/husarion/.ros/log/b7bce0a2-a798-11e9-8554-70f11c0553cc/map_server-7*.log
[ WARN] [1563261001.471250906]: Request for map failed; trying again…
[ WARN] [1563261001.974270009]: Request for map failed; trying again…

Reading from the keyboard and Publishing to Twist!

Moving around:
u i o
j k l
m , .

For Holonomic mode (strafing), hold down the shift key:

U I O
J K L
M < >

t : up (+z)
b : down (-z)

anything else : stop

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%

CTRL-C to quit

currently: speed 0.5 turn 1.0
[ WARN] [1563261002.479030375]: Request for map failed; trying again…
[ WARN] [1563261002.982331106]: Request for map failed; trying again…
[ WARN] [1563261003.486819555]: Request for map failed; trying again…
[ WARN] [1563261003.992947529]: Request for map failed; trying again…
[ WARN] [1563261004.496312584]: Request for map failed; trying again…
[ WARN] [1563261005.000102828]: Request for map failed; trying again…
[ WARN] [1563261005.505055637]: Request for map failed; trying again…
[ WARN] [1563261005.999323771]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist… canTransform returned after 0.100687 timeout was 0.1.
[ WARN] [1563261006.008851044]: Request for map failed; trying again…
[ WARN] [1563261006.513776422]: Request for map failed; trying again…

6

Hello Pradeep_BV,

The error you are getting:

[ERROR] [1563261000.516709656]: failed to open image file “/home/husarion/ros_workspace/src/rosbot_slam/test3.pgm”: Couldn’t open /home/husarion/ros_workspace/src/rosbot_slam/test3.pgm

Means there is a problem with map file, make sure that there is a map file and it is readable on path /home/husarion/ros_workspace/src/rosbot_slam/test3.pgm

Regards,
Łukasz

7

Hi Lukasz,

Thank You I thought I edited the file names in the Launch file forgot to edit the names in .yaml file of the map. Should I run the same serial node program on core-2.0 from SLAM tutorial or do I need to make any changes for that C++ program ?

8

Hello Pradeep_BV,

There is no need to change anything in CORE2 code. You can use the same program.

Regards,
Łukasz

9

hi Lukasz,

I keep getting serial baud rate error while running

/opt/husarion/tools/rpi-linux/ros-core2-client /dev/ttyCORE2

in the slam.cpp file baud rate is set to
uint32_t baudrate = 230400; // for ROSbot 2.0 PRO

in the localization.launch file baud rate is set to
<param name="serial_baudrate" type="int" value="256000"/><!-- model A3 (ROSbot 2.0 PRO) -->

But the serial baud rate mismatch error keep recurring. What is the source of the error ?

10

Hello Pradeep_BV,

The parameter in localization.launch refers to RpLidar baudrate, it does not affect communication with CORE2 controller.

Please provide here output of following commands:

/opt/husarion/tools/rpi-linux/ros-core2-client /dev/ttyCORE2

sudo systemctl status husarnet-configurator.service 

ls /dev/tty*

Also, could you specify when did the error started to occur? Serial communication with CORE2 controller is essential for building a map, you were able to create and save the map. Based on that I conclude that there were no problems with serial communication at that time and error started to occur later. Am I right?

Regards,
Łukasz

11

Hi Lukasz,

I am facing a new issue now with Rosbot Pro 2.0

I was using the windows remote desktop connection with Rosbot to run the tutorials.
Today I when switched on the rosbot is started acting abnormally.
I am not able to connect to rosbot using windows remote desktop connection.
when I connect to HDMI screen the display is unable to find a source.

The rosbot continously sits in a phase where Power LED and L1 LED are continously on. I tried recharging fully and restarting but that did not help.

I am attaching screen shots of the core ros board below

Red LED - Power
Green LED - L1

IMG20190717120804
IMG201907171208042443×3258 1.93 MB

IMG20190717120809
IMG201907171208092443×3258 1.67 MB

How to resolve this issue ?

12

Hi Lukasz,

Following manual you sent me . I was able to reset BIOS Power issues.
Thank you for the manual.

Returning to my previous query, the amcl localaization node has started working but I face the serial rate error as follows when I run

/opt/husarion/tools/rpi-linux/ros-core2-client /dev/ttyCORE2

The output is as follows:

[INFO] [1563854277.271349]: ROS Serial Python Node
[INFO] [1563854277.287174]: Connecting to /dev/ttyCORE2 at 500000 baud
[INFO] [1563854277.288339]: Iffff
[ERROR] [1563854294.397966]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino
[ERROR] [1563854309.401172]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino

I am running this command in terminal 2

roslaunch rosbot_slam localization.launch

The output is

... logging to /home/husarion/.ros/log/0c90f4dc-acfe-11e9-9469-70f11c0553cc/roslaunch-husarion-UP-CHT01-2955.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-UP-CHT01:33693/

SUMMARY
========

PARAMETERS
 * /amcl/base_frame_id: base_link
 * /amcl/odom_frame_id: odom
 * /amcl/odom_model_type: diff-corrected
 * /amcl/update_min_a: 1.0
 * /amcl/update_min_d: 0.5
 * /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: [[0.12, 0.14], [0...
 * /move_base/global_costmap/global_frame: map
 * /move_base/global_costmap/height: 15
 * /move_base/global_costmap/inflation_radius: 2.5
 * /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_frame
 * /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: -7.5
 * /move_base/global_costmap/origin_y: -7.5
 * /move_base/global_costmap/publish_frequency: 2.5
 * /move_base/global_costmap/raytrace_range: 8.5
 * /move_base/global_costmap/resolution: 0.1
 * /move_base/global_costmap/robot_base_frame: base_link
 * /move_base/global_costmap/rolling_window: True
 * /move_base/global_costmap/static_map: True
 * /move_base/global_costmap/subscribe_to_updates: True
 * /move_base/global_costmap/transform_tolerance: 0.5
 * /move_base/global_costmap/update_frequency: 2.5
 * /move_base/global_costmap/width: 15
 * /move_base/local_costmap/always_send_full_costmap: True
 * /move_base/local_costmap/footprint: [[0.12, 0.14], [0...
 * /move_base/local_costmap/global_frame: map
 * /move_base/local_costmap/height: 3
 * /move_base/local_costmap/inflation_radius: 0.6
 * /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_frame
 * /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: 5
 * /move_base/local_costmap/raytrace_range: 8.5
 * /move_base/local_costmap/resolution: 0.1
 * /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: 0.25
 * /move_base/local_costmap/update_frequency: 5
 * /move_base/local_costmap/width: 3
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /rplidar/angle_compensate: True
 * /rplidar/serial_baudrate: 256000

NODES
  /
    amcl (amcl/amcl)
    drive_controller (tutorial_pkg/drive_controller_node)
    laser_broadcaster (tf/static_transform_publisher)
    map_server (map_server/map_server)
    move_base (move_base/move_base)
    rplidar (rplidar_ros/rplidarNode)
    rviz (rviz/rviz)
    teleop_twist_keyboard (teleop_twist_keyboard/teleop_twist_keyboard.py)

auto-starting new master
process[master]: started with pid [2966]
ROS_MASTER_URI=http://master:11311

setting /run_id to 0c90f4dc-acfe-11e9-9469-70f11c0553cc
process[rosout-1]: started with pid [2989]
started core service [/rosout]
process[rplidar-2]: started with pid [3007]
process[drive_controller-3]: started with pid [3008]
process[laser_broadcaster-4]: started with pid [3018]
process[teleop_twist_keyboard-5]: started with pid [3025]
process[rviz-6]: started with pid [3041]
process[map_server-7]: started with pid [3047]
process[amcl-8]: started with pid [3051]
process[move_base-9]: started with pid [3058]
[ INFO] [1563854278.450308355]: Requesting the map...
[ INFO] [1563854278.507652684]: Received a 1984 X 1984 map @ 0.100 m/pix

[ INFO] [1563854278.908383638]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1563854279.419217789]: Done initializing likelihood field model.

Reading from the keyboard  and Publishing to Twist!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

For Holonomic mode (strafing), hold down the shift key:
---------------------------
   U    I    O
   J    K    L
   M    <    >

t : up (+z)
b : down (-z)

anything else : stop

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%

CTRL-C to quit

currently:	speed 0.5	turn 1.0 

[ WARN] [1563854283.572098205]: Timed out waiting for transform from base_link to map to  become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100487 timeout was 0.1.
[ WARN] [1563854288.604383130]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100514 timeout was 0.1.
[ WARN][1563854294.943005571]: No laser scan received (and thus no pose updates have been published) for 1563854294.942772 seconds.  Verify that data is being published on the /scan topic.
[ WARN] [1563854294.943311684]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.amcl.message_notifier] rosconsole logger to DEBUG for more information.
[ WARN] [1563854298.674718584]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.101002 timeout was 0.1.
[ WARN] [1563854303.708943435]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100183 timeout was 0.1.