Navigation for Pepper: Cannot transform from map to base_footprint

[Jason Yang]

I'm trying to run AMCL for auto navigation with the robot Pepper. And I used the map that built by TurtleBot(gmapping). the result is shown as follow picture

: 

and the frame tree file is here It can load the map, and can set the initial position by 2D Postion estimate but when I set the 2D Navigation Goal, the robot bring up node out comes the message:

Cannot transform from map to base_footprint

My navigation launch file are follow:

1. pepper_navagation.launch

   <launch>
       <!-- Set the name of the map yaml file: can be overridden on the command line. -->
       <arg name="map" default="/home/axmros/tmp/office0614.yaml" />
       <!-- Run the map server with the desired map -->
       <node name="map_server" pkg="map_server" type="map_server" args="$(arg map)"/>
       <include file="$(find pepper_navigation)/launch/includes/amcl.launch.xml"/>
   </launch>

2. amcl.launch.xml

   <launch>
     <arg name="use_map_topic"   default="1"/>
     <arg name="scan_topic"      default="/pepper_robot/laser"/> 
     <arg name="odom_frame_id"   default="odom"/>
     <arg name="base_frame_id"   default="base_footprint"/>
     <arg name="global_frame_id" default="map"/>
   
     <node pkg="amcl" type="amcl" name="amcl">
       <param name="use_map_topic"             value="$(arg use_map_topic)"/>
       <!-- Publish scans from best pose at a max of 10 Hz -->
       <param name="gui_publish_rate"          value="0.5"/>
       <param name="transform_tolerance"       value="0.02"/>
       <param name="laser_max_beams"           value="61"/> 
       <param name="laser_max_range"       value="5.0"/>
       <param name="min_particles"         value="1000 * 4"/>
       <param name="max_particles"         value="5000 * 4"/>
       <param name="odom_model_type"           value="omni"/>
       <param name="resample_interval"         value="8"/>
       <param name="odom_alpha1"           value="1.1"/>
       <param name="odom_alpha2"           value="1.1"/>
       <param name="odom_alpha3"           value="10.0"/>
       <param name="odom_alpha4"           value="0.1"/>
       <param name="odom_alpha5"           value="0.1"/>
       <param name="laser_model_type"      value="likelihood_field"/>
       <param name="laser_likelihood_max_dist" value="4.0"/>
       <param name="update_min_d"          value="0.05"/>
       <param name="update_min_a"          value="0.02"/>
       <param name="recovery_alpha_slow"       value="0.0"/>
       <param name="recovery_alpha_fast"       value="0.0"/>
       <param name="laser_z_rand"          value="0.05"/>
       <param name="laser_z_hit"           value="0.95"/>
       <param name="laser_sigma_hit"       value="0.2"/>
       <param name="laser_z_short"         value="0.01"/>
       <param name="laser_z_max"           value="0.01"/>
   
       <param name="odom_frame_id"             value="$(arg odom_frame_id)"/> 
       <param name="base_frame_id"             value="$(arg base_frame_id)"/> 
       <param name="global_frame_id"           value="$(arg global_frame_id)"/>
       <remap from="scan"                      to="$(arg scan_topic)"/>
     </node>
   </launch>

and the robot can't move, if I set the global frame id ad base_link or base_footprint, the robot can move but the odom can not match with the map.

According to the messages, it seems that the tf has not been configured correctly, but I think the frame tree is all right.

So what should I do to fix the problem?

[Karsten K]

you want to make sure that you have only one TF tree and not multiple publishers on the same TF frame. The tree is basically "map" -> "odom" -> "base_link"

I remember that the base_link of pepper may not be necessarily on the same link as the footprint but rather in the hip. So that would make your odom having an offset in Z-direction.

Rather than the TF tree, can you double check with TF echo/monitor that your tree is correct, and only one publisher for each frame exists?

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[Jason Yang]

Hi Karsten，

My TF echo result is as follow:

axmros@axmros:~$ rosrun tf tf_echo /map /base_footprint

At time 1475217184.562

- Translation: [0.037, -0.004, -0.820]

- Rotation: in Quaternion [-0.002, -0.021, 0.000, 1.000]

            in RPY (radian) [-0.003, -0.043, 0.000]

            in RPY (degree) [-0.176, -2.461, 0.017]

At time 1475217184.787

- Translation: [0.037, -0.004, -0.820]

- Rotation: in Quaternion [-0.002, -0.021, 0.000, 1.000]

            in RPY (radian) [-0.003, -0.043, 0.000]

            in RPY (degree) [-0.176, -2.461, 0.017]

At time 1475217185.900

- Translation: [0.037, -0.004, -0.820]

- Rotation: in Quaternion [-0.002, -0.021, 0.000, 1.000]

            in RPY (radian) [-0.003, -0.043, 0.000]

            in RPY (degree) [-0.176, -2.461, 0.017]

At time 1475217186.680

- Translation: [0.037, -0.004, -0.820]

- Rotation: in Quaternion [-0.002, -0.021, 0.000, 1.000]

            in RPY (radian) [-0.003, -0.043, 0.000]

            in RPY (degree) [-0.176, -2.461, 0.017]

and the TF Monitor is:

RESULTS: for map to base_footprint

Chain is: map -> odom -> base_link -> torso -> Hip -> Pelvis -> Tibia -> base_footprint

Net delay     avg = 0.382667: max = 1.49801

Frames:

Frame: Hip published by unknown_publisher Average Delay: 0.0714069 Max Delay: 0.739803

Frame: Pelvis published by unknown_publisher Average Delay: 0.0714049 Max Delay: 0.739802

Frame: Tibia published by unknown_publisher Average Delay: 0.0714096 Max Delay: 0.739804

Frame: base_footprint published by unknown_publisher Average Delay: 0.0715691 Max Delay: 0.739874

Frame: base_link published by unknown_publisher Average Delay: 0.00109852 Max Delay: 0.00425786

Frame: odom published by unknown_publisher Average Delay: 0.143361 Max Delay: 0.920095

Frame: torso published by unknown_publisher Average Delay: 0.0715708 Max Delay: 0.739875

I think it's right, except too much delay.

在 2016年9月29日星期四 UTC+8下午11:17:40，Karsten Knese写道：

[Patrick Hansen]

Jason,

Did you ever figure out this issue? 

I am trying to run use 2D Nav Goal with Pepper and getting the same error. I have similar launch files to get AMCL running.

[Natalia Lyubova]

Hello,

did you try to use naoqi_driver_py (the one in naoqi_bridge)? The transform odom to base_link is updated more often there ...

[Kiki Tina]

Hi,

anyone solve this and how?

četrtek, 6. april 2017 ob 17:08:42 UTC+2 je oseba Natalia Lyubova napisala: