turtlebot3: 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)