ログ：turtlebot3 - masuko-shingo/jetson-nano GitHub Wiki
ssh通信でslam.launchができない エラーメッセージ
masuko@masuko-PC-VKM24BZG1:~$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
... logging to /home/masuko/.ros/log/41c80dd4-1007-11ec-9831-7c7635a4ab69/roslaunch-masuko-PC-VKM24BZG1-19934.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
No such file or directory: /opt/ros/melodic/share/turtlebot3_description/urdf/turtlebot3_.urdf.xacro
RLException: while processing /opt/ros/melodic/share/turtlebot3_bringup/launch/turtlebot3_remote.launch:
while processing /opt/ros/melodic/share/turtlebot3_bringup/launch/includes/description.launch.xml:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '--inorder', '/opt/ros/melodic/share/turtlebot3_description/urdf/turtlebot3_.urdf.xacro']] returned with code [2].
Param xml is <param command="$(arg urdf_file)" name="robot_description"/>
The traceback for the exception was written to the log file
和訳
そのようなファイルまたはディレクトリはありません。/opt/ros/melodic/share/turtlebot3_description/urdf/turtlebot3_.urdf.xacro
RLException: /opt/ros/melodic/share/turtlebot3_bringup/launch/turtlebot3_remote.launchの処理中に発生しました。
/opt/ros/melodic/share/turtlebot3_bringup/launch/includes/description.launch.xmlの処理中。
無効な<param>タグです。Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '--inorder', '/opt/ros/melodic/share/turtlebot3_description/urdf/turtlebot3_.urdf.xacro'] はコード[2]で返されました。]
Param xml は <param command="$(arg urdf_file)" name="robot_description"/> です。
この例外のトレースバックがログファイルに書き込まれました
turtlebot3_.urdf.xacroがあるか確認
masuko@masuko-PC-VKM24BZG1:~$ cd /opt/ros/melodic/share/turtlebot3_description/urdf/
masuko@masuko-PC-VKM24BZG1:/opt/ros/melodic/share/turtlebot3_description/urdf$ ls
common_properties.xacro
turtlebot3_burger.gazebo.xacro
turtlebot3_burger.urdf.xacro
turtlebot3_burger_for_autorace.gazebo.xacro
turtlebot3_burger_for_autorace.urdf.xacro
turtlebot3_burger_for_autorace_2020.gazebo.xacro
turtlebot3_burger_for_autorace_2020.urdf.xacro
turtlebot3_waffle.gazebo.xacro
turtlebot3_waffle.urdf.xacro
turtlebot3_waffle_for_open_manipulator.urdf.xacro
turtlebot3_waffle_pi.gazebo.xacro
turtlebot3_waffle_pi.urdf.xacro
turtlebot3_waffle_pi_for_open_manipulator.gazebo.xacro
turtlebot3_waffle_pi_for_open_manipulator.urdf.xacro
存在しない
/opt/ros/melodic/share/turtlebot3_bringup/launch/includes/description.launch.xmlを確認
<launch>
<arg name="model"/>
<arg name="urdf_file" default="$(find xacro)/xacro --inorder '$(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro'" />
<param name="robot_description" command="$(arg urdf_file)" />
</launch>
~
おそらく$(arg model)がちゃんと入っていない
/opt/ros/melodic/share/turtlebot3_bringup/launch/includes/description.launch.xml
変更前
<launch>
<arg name="model"/>
<arg name="urdf_file" default="$(find xacro)/xacro --inorder '$(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro'" />
<param name="robot_description" command="$(arg urdf_file)" />
</launch>
~
変更後
<launch>
<arg name="model"/>
<arg name="urdf_file" default="$(find xacro)/xacro --inorder '$(find turtlebot3_description)/urdf/turtlebot3_burger.urdf.xacro'" />
<param name="robot_description" command="$(arg urdf_file)" />
</launch>
~
$(arg model)をburgerに直打ちにした
navigationを行う際にエラー
masuko@masuko-PC-VKM24BZG1:~$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map2021-12-1.yaml
... logging to /home/masuko/.ros/log/5dbcd57a-5214-11ec-9085-7c7635a4ab69/roslaunch-masuko-PC-VKM24BZG1-10148.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
RLException: error loading <rosparam> tag:
file does not exist [/opt/ros/melodic/share/turtlebot3_navigation/param/costmap_common_params_.yaml]
XML is <rosparam command="load" file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" ns="global_costmap"/>
The traceback for the exception was written to the log file
和訳
masuko @ masuko-PC-VKM24BZG1：〜$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file：= $ HOME / map2021-12-1.yaml
... / home / masuko / .ros / log / 5dbcd57a-5214-11ec-9085-7c7635a4ab69 / roslaunch-masuko-PC-VKM24BZG1-10148.logにログを記録
ログディレクトリでディスク使用量を確認しています。これは時間がかかる場合があります。
Ctrl-Cを押して中断します
ログファイルのディスク使用量のチェックが完了しました。使用量は1GB未満です。
xacro：ROSMelodicでは順序どおりの処理がデフォルトになりました。オプションを削除できます。
RLException：<rosparam>タグの読み込みエラー：
ファイルが存在しません[/opt/ros/melodic/share/turtlebot3_navigation/param/costmap_common_params_.yaml]
XMLは<rosparamcommand = "load" file = "$（find turtlebot3_navigation）/ param / costmap_common_params _ $（arg model）.yaml" ns = "global_costmap" />
例外のトレースバックがログファイルに書き込まれました
/opt/ros/melodic/share/turtlebot3_navigation/param/costmap_common_params_.yamlがあるか確認
masuko@masuko-PC-VKM24BZG1:~$ cd /opt/ros/melodic/share/turtlebot3_navigation/param
masuko@masuko-PC-VKM24BZG1:/opt/ros/melodic/share/turtlebot3_navigation/param$ ls
base_local_planner_params.yaml dwa_local_planner_params_burger.yaml local_costmap_params.yaml
costmap_common_params_burger.yaml dwa_local_planner_params_waffle.yaml move_base_params.yaml
costmap_common_params_waffle.yaml dwa_local_planner_params_waffle_pi.yaml
costmap_common_params_waffle_pi.yaml global_costmap_params.yaml
存在しない
上記、slamの際にも生じたエラーと似た事例か？
どのxmlファイルを読んでいるのかわからず、変更できない
navigationのlaunchファイルを立ち上げる前に
$ export TURTLEBOT3_MODEL=burger
と入力したところ、rvizが開いた
masuko@masuko-PC-VKM24BZG1:/opt/ros/melodic/share/turtlebot3_navigation/maps$ export TURTLEBOT3_MODEL=burger
masuko@masuko-PC-VKM24BZG1:/opt/ros/melodic/share/turtlebot3_navigation/maps$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml
... logging to /home/masuko/.ros/log/5dbcd57a-5214-11ec-9085-7c7635a4ab69/roslaunch-masuko-PC-VKM24BZG1-11059.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://192.168.0.42:45639/
SUMMARY
========
PARAMETERS
* /amcl/base_frame_id: base_footprint
* /amcl/gui_publish_rate: 50.0
* /amcl/initial_pose_a: 0.0
* /amcl/initial_pose_x: 0.0
* /amcl/initial_pose_y: 0.0
* /amcl/kld_err: 0.02
* /amcl/laser_lambda_short: 0.1
* /amcl/laser_likelihood_max_dist: 2.0
* /amcl/laser_max_beams: 180
* /amcl/laser_max_range: 3.5
* /amcl/laser_model_type: likelihood_field
* /amcl/laser_sigma_hit: 0.2
* /amcl/laser_z_hit: 0.5
* /amcl/laser_z_max: 0.05
* /amcl/laser_z_rand: 0.5
* /amcl/laser_z_short: 0.05
* /amcl/max_particles: 3000
* /amcl/min_particles: 500
* /amcl/odom_alpha1: 0.1
* /amcl/odom_alpha2: 0.1
* /amcl/odom_alpha3: 0.1
* /amcl/odom_alpha4: 0.1
* /amcl/odom_frame_id: odom
* /amcl/odom_model_type: diff
* /amcl/recovery_alpha_fast: 0.0
* /amcl/recovery_alpha_slow: 0.0
* /amcl/resample_interval: 1
* /amcl/transform_tolerance: 0.5
* /amcl/update_min_a: 0.2
* /amcl/update_min_d: 0.2
* /move_base/DWAPlannerROS/acc_lim_theta: 3.2
* /move_base/DWAPlannerROS/acc_lim_x: 2.5
* /move_base/DWAPlannerROS/acc_lim_y: 0.0
* /move_base/DWAPlannerROS/controller_frequency: 10.0
* /move_base/DWAPlannerROS/forward_point_distance: 0.325
* /move_base/DWAPlannerROS/goal_distance_bias: 20.0
* /move_base/DWAPlannerROS/latch_xy_goal_tolerance: False
* /move_base/DWAPlannerROS/max_scaling_factor: 0.2
* /move_base/DWAPlannerROS/max_vel_theta: 2.75
* /move_base/DWAPlannerROS/max_vel_trans: 0.22
* /move_base/DWAPlannerROS/max_vel_x: 0.22
* /move_base/DWAPlannerROS/max_vel_y: 0.0
* /move_base/DWAPlannerROS/min_vel_theta: 1.37
* /move_base/DWAPlannerROS/min_vel_trans: 0.11
* /move_base/DWAPlannerROS/min_vel_x: -0.22
* /move_base/DWAPlannerROS/min_vel_y: 0.0
* /move_base/DWAPlannerROS/occdist_scale: 0.02
* /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
* /move_base/DWAPlannerROS/path_distance_bias: 32.0
* /move_base/DWAPlannerROS/publish_cost_grid_pc: True
* /move_base/DWAPlannerROS/publish_traj_pc: True
* /move_base/DWAPlannerROS/scaling_speed: 0.25
* /move_base/DWAPlannerROS/sim_time: 1.5
* /move_base/DWAPlannerROS/stop_time_buffer: 0.2
* /move_base/DWAPlannerROS/vth_samples: 40
* /move_base/DWAPlannerROS/vx_samples: 20
* /move_base/DWAPlannerROS/vy_samples: 0
* /move_base/DWAPlannerROS/xy_goal_tolerance: 0.05
* /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.17
* /move_base/base_local_planner: dwa_local_planner...
* /move_base/conservative_reset_dist: 3.0
* /move_base/controller_frequency: 10.0
* /move_base/controller_patience: 15.0
* /move_base/global_costmap/cost_scaling_factor: 3.0
* /move_base/global_costmap/footprint: [[-0.105, -0.105]...
* /move_base/global_costmap/global_frame: map
* /move_base/global_costmap/inflation_radius: 1.0
* /move_base/global_costmap/map_type: costmap
* /move_base/global_costmap/observation_sources: scan
* /move_base/global_costmap/obstacle_range: 3.0
* /move_base/global_costmap/publish_frequency: 10.0
* /move_base/global_costmap/raytrace_range: 3.5
* /move_base/global_costmap/robot_base_frame: base_footprint
* /move_base/global_costmap/scan/clearing: True
* /move_base/global_costmap/scan/data_type: LaserScan
* /move_base/global_costmap/scan/marking: True
* /move_base/global_costmap/scan/sensor_frame: base_scan
* /move_base/global_costmap/scan/topic: scan
* /move_base/global_costmap/static_map: True
* /move_base/global_costmap/transform_tolerance: 0.5
* /move_base/global_costmap/update_frequency: 10.0
* /move_base/local_costmap/cost_scaling_factor: 3.0
* /move_base/local_costmap/footprint: [[-0.105, -0.105]...
* /move_base/local_costmap/global_frame: odom
* /move_base/local_costmap/height: 3
* /move_base/local_costmap/inflation_radius: 1.0
* /move_base/local_costmap/map_type: costmap
* /move_base/local_costmap/observation_sources: scan
* /move_base/local_costmap/obstacle_range: 3.0
* /move_base/local_costmap/publish_frequency: 10.0
* /move_base/local_costmap/raytrace_range: 3.5
* /move_base/local_costmap/resolution: 0.05
* /move_base/local_costmap/robot_base_frame: base_footprint
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/scan/clearing: True
* /move_base/local_costmap/scan/data_type: LaserScan
* /move_base/local_costmap/scan/marking: True
* /move_base/local_costmap/scan/sensor_frame: base_scan
* /move_base/local_costmap/scan/topic: scan
* /move_base/local_costmap/static_map: False
* /move_base/local_costmap/transform_tolerance: 0.5
* /move_base/local_costmap/update_frequency: 10.0
* /move_base/local_costmap/width: 3
* /move_base/oscillation_distance: 0.2
* /move_base/oscillation_timeout: 10.0
* /move_base/planner_frequency: 5.0
* /move_base/planner_patience: 5.0
* /move_base/shutdown_costmaps: False
* /robot_description: <?xml version="1....
* /robot_state_publisher/publish_frequency: 50.0
* /robot_state_publisher/tf_prefix:
* /rosdistro: melodic
* /rosversion: 1.14.10
NODES
/
amcl (amcl/amcl)
map_server (map_server/map_server)
move_base (move_base/move_base)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
ROS_MASTER_URI=http://192.168.0.42:11311
process[robot_state_publisher-1]: started with pid [11078]
process[map_server-2]: started with pid [11079]
process[amcl-3]: started with pid [11081]
process[move_base-4]: started with pid [11086]
process[rviz-5]: started with pid [11089]
[ERROR] [1638304334.696266620]: Map_server could not open /home/masuko/map.yaml.
[ WARN] [1638304334.759398880]: Request for map failed; trying again...
[map_server-2] process has died [pid 11079, exit code 255, cmd /opt/ros/melodic/lib/map_server/map_server /home/masuko/map.yaml __name:=map_server __log:=/home/masuko/.ros/log/5dbcd57a-5214-11ec-9085-7c7635a4ab69/map_server-2.log].
log file: /home/masuko/.ros/log/5dbcd57a-5214-11ec-9085-7c7635a4ab69/map_server-2*.log
[ WARN] [1638304335.260031900]: Request for map failed; trying again...
[ WARN] [1638304335.760619357]: Request for map failed; trying again...
[ WARN] [1638304336.261299100]: Request for map failed; trying again...
[ WARN] [1638304336.763610027]: Request for map failed; trying again...
[ WARN] [1638304337.266153528]: Request for map failed; trying again...
[ WARN] [1638304337.768768239]: Request for map failed; trying again...
[ WARN] [1638304338.269838847]: Request for map failed; trying again...
[ WARN] [1638304338.771194676]: Request for map failed; trying again...
[ WARN] [1638304339.272810049]: Request for map failed; trying again...
[ WARN] [1638304339.775117813]: Request for map failed; trying again...
[ WARN] [1638304339.826269159]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100966 timeout was 0.1.
mapファイルの名前をmap2021-12-1.yamlからmap.yamlに戻したところ rvizが開き、mapファイルも読み込めていた。
masuko@masuko-PC-VKM24BZG1:/opt/ros/melodic/share/turtlebot3_navigation/maps$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml
... logging to /home/masuko/.ros/log/5dbcd57a-5214-11ec-9085-7c7635a4ab69/roslaunch-masuko-PC-VKM24BZG1-12267.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://192.168.0.42:33045/
SUMMARY
========
PARAMETERS
* /amcl/base_frame_id: base_footprint
* /amcl/gui_publish_rate: 50.0
* /amcl/initial_pose_a: 0.0
* /amcl/initial_pose_x: 0.0
* /amcl/initial_pose_y: 0.0
* /amcl/kld_err: 0.02
* /amcl/laser_lambda_short: 0.1
* /amcl/laser_likelihood_max_dist: 2.0
* /amcl/laser_max_beams: 180
* /amcl/laser_max_range: 3.5
* /amcl/laser_model_type: likelihood_field
* /amcl/laser_sigma_hit: 0.2
* /amcl/laser_z_hit: 0.5
* /amcl/laser_z_max: 0.05
* /amcl/laser_z_rand: 0.5
* /amcl/laser_z_short: 0.05
* /amcl/max_particles: 3000
* /amcl/min_particles: 500
* /amcl/odom_alpha1: 0.1
* /amcl/odom_alpha2: 0.1
* /amcl/odom_alpha3: 0.1
* /amcl/odom_alpha4: 0.1
* /amcl/odom_frame_id: odom
* /amcl/odom_model_type: diff
* /amcl/recovery_alpha_fast: 0.0
* /amcl/recovery_alpha_slow: 0.0
* /amcl/resample_interval: 1
* /amcl/transform_tolerance: 0.5
* /amcl/update_min_a: 0.2
* /amcl/update_min_d: 0.2
* /move_base/DWAPlannerROS/acc_lim_theta: 3.2
* /move_base/DWAPlannerROS/acc_lim_x: 2.5
* /move_base/DWAPlannerROS/acc_lim_y: 0.0
* /move_base/DWAPlannerROS/controller_frequency: 10.0
* /move_base/DWAPlannerROS/forward_point_distance: 0.325
* /move_base/DWAPlannerROS/goal_distance_bias: 20.0
* /move_base/DWAPlannerROS/latch_xy_goal_tolerance: False
* /move_base/DWAPlannerROS/max_scaling_factor: 0.2
* /move_base/DWAPlannerROS/max_vel_theta: 2.75
* /move_base/DWAPlannerROS/max_vel_trans: 0.22
* /move_base/DWAPlannerROS/max_vel_x: 0.22
* /move_base/DWAPlannerROS/max_vel_y: 0.0
* /move_base/DWAPlannerROS/min_vel_theta: 1.37
* /move_base/DWAPlannerROS/min_vel_trans: 0.11
* /move_base/DWAPlannerROS/min_vel_x: -0.22
* /move_base/DWAPlannerROS/min_vel_y: 0.0
* /move_base/DWAPlannerROS/occdist_scale: 0.02
* /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
* /move_base/DWAPlannerROS/path_distance_bias: 32.0
* /move_base/DWAPlannerROS/publish_cost_grid_pc: True
* /move_base/DWAPlannerROS/publish_traj_pc: True
* /move_base/DWAPlannerROS/scaling_speed: 0.25
* /move_base/DWAPlannerROS/sim_time: 1.5
* /move_base/DWAPlannerROS/stop_time_buffer: 0.2
* /move_base/DWAPlannerROS/vth_samples: 40
* /move_base/DWAPlannerROS/vx_samples: 20
* /move_base/DWAPlannerROS/vy_samples: 0
* /move_base/DWAPlannerROS/xy_goal_tolerance: 0.05
* /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.17
* /move_base/base_local_planner: dwa_local_planner...
* /move_base/conservative_reset_dist: 3.0
* /move_base/controller_frequency: 10.0
* /move_base/controller_patience: 15.0
* /move_base/global_costmap/cost_scaling_factor: 3.0
* /move_base/global_costmap/footprint: [[-0.105, -0.105]...
* /move_base/global_costmap/global_frame: map
* /move_base/global_costmap/inflation_radius: 1.0
* /move_base/global_costmap/map_type: costmap
* /move_base/global_costmap/observation_sources: scan
* /move_base/global_costmap/obstacle_range: 3.0
* /move_base/global_costmap/publish_frequency: 10.0
* /move_base/global_costmap/raytrace_range: 3.5
* /move_base/global_costmap/robot_base_frame: base_footprint
* /move_base/global_costmap/scan/clearing: True
* /move_base/global_costmap/scan/data_type: LaserScan
* /move_base/global_costmap/scan/marking: True
* /move_base/global_costmap/scan/sensor_frame: base_scan
* /move_base/global_costmap/scan/topic: scan
* /move_base/global_costmap/static_map: True
* /move_base/global_costmap/transform_tolerance: 0.5
* /move_base/global_costmap/update_frequency: 10.0
* /move_base/local_costmap/cost_scaling_factor: 3.0
* /move_base/local_costmap/footprint: [[-0.105, -0.105]...
* /move_base/local_costmap/global_frame: odom
* /move_base/local_costmap/height: 3
* /move_base/local_costmap/inflation_radius: 1.0
* /move_base/local_costmap/map_type: costmap
* /move_base/local_costmap/observation_sources: scan
* /move_base/local_costmap/obstacle_range: 3.0
* /move_base/local_costmap/publish_frequency: 10.0
* /move_base/local_costmap/raytrace_range: 3.5
* /move_base/local_costmap/resolution: 0.05
* /move_base/local_costmap/robot_base_frame: base_footprint
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/scan/clearing: True
* /move_base/local_costmap/scan/data_type: LaserScan
* /move_base/local_costmap/scan/marking: True
* /move_base/local_costmap/scan/sensor_frame: base_scan
* /move_base/local_costmap/scan/topic: scan
* /move_base/local_costmap/static_map: False
* /move_base/local_costmap/transform_tolerance: 0.5
* /move_base/local_costmap/update_frequency: 10.0
* /move_base/local_costmap/width: 3
* /move_base/oscillation_distance: 0.2
* /move_base/oscillation_timeout: 10.0
* /move_base/planner_frequency: 5.0
* /move_base/planner_patience: 5.0
* /move_base/shutdown_costmaps: False
* /robot_description: <?xml version="1....
* /robot_state_publisher/publish_frequency: 50.0
* /robot_state_publisher/tf_prefix:
* /rosdistro: melodic
* /rosversion: 1.14.10
NODES
/
amcl (amcl/amcl)
map_server (map_server/map_server)
move_base (move_base/move_base)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
ROS_MASTER_URI=http://192.168.0.42:11311
process[robot_state_publisher-1]: started with pid [12286]
process[map_server-2]: started with pid [12287]
process[amcl-3]: started with pid [12289]
process[move_base-4]: started with pid [12294]
process[rviz-5]: started with pid [12298]
[ WARN] [1638304499.821298303]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100731 timeout was 0.1.
[ WARN] [1638304501.151072453]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ WARN] [1638304501.151698617]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [1638304501.153002554]: global_costmap: Using plugin "static_layer"
[ INFO] [1638304501.167165433]: Requesting the map...
[ INFO] [1638304501.373832839]: Resizing costmap to 384 X 384 at 0.050000 m/pix
[ INFO] [1638304501.472687816]: Received a 384 X 384 map at 0.050000 m/pix
[ INFO] [1638304501.485263687]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1638304501.511677129]: Subscribed to Topics: scan
[ INFO] [1638304501.558473755]: global_costmap: Using plugin "inflation_layer"
[ WARN] [1638304501.622514189]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ WARN] [1638304501.623154207]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [1638304501.624212539]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1638304501.634659288]: Subscribed to Topics: scan
[ INFO] [1638304501.662653860]: local_costmap: Using plugin "inflation_layer"
[ INFO] [1638304501.719300213]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1638304501.722940724]: Sim period is set to 0.10
[ INFO] [1638304501.925165958]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1638304501.933525226]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1638304501.987885431]: odom received!
[ WARN] [1638304529.187119511]: Costmap2DROS transform timeout. Current time: 1638304529.1870, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304529.187290890]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304530.187216984]: Costmap2DROS transform timeout. Current time: 1638304530.1871, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304530.187562138]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304531.201575339]: Costmap2DROS transform timeout. Current time: 1638304531.2015, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304531.286844291]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304532.201698127]: Costmap2DROS transform timeout. Current time: 1638304532.2016, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304532.286947149]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304533.207675293]: Costmap2DROS transform timeout. Current time: 1638304533.2075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304533.287017722]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304534.286785950]: Costmap2DROS transform timeout. Current time: 1638304534.2867, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304534.386741774]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304535.286815417]: Costmap2DROS transform timeout. Current time: 1638304535.2867, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304535.386779696]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304536.286812300]: Costmap2DROS transform timeout. Current time: 1638304536.2867, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304536.386798737]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304537.286963664]: Costmap2DROS transform timeout. Current time: 1638304537.2868, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304537.386802365]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304538.301674107]: Costmap2DROS transform timeout. Current time: 1638304538.3016, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304538.386836864]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304539.301664664]: Costmap2DROS transform timeout. Current time: 1638304539.3016, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304539.486910599]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304540.307494985]: Costmap2DROS transform timeout. Current time: 1638304540.3074, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304540.486941702]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304541.307670882]: Costmap2DROS transform timeout. Current time: 1638304541.3075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304541.486941345]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304542.387014338]: Costmap2DROS transform timeout. Current time: 1638304542.3869, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304542.486988562]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304543.401677006]: Costmap2DROS transform timeout. Current time: 1638304543.4016, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304543.586702061]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304544.068628925]: Failed to transform initial pose in time (Lookup would require extrapolation into the future. Requested time 1638304543.565700591 but the latest data is at time 1638304528.941323957, when looking up transform from frame [base_footprint] to frame [odom])
[ WARN] [1638304544.407629300]: Costmap2DROS transform timeout. Current time: 1638304544.4075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304544.586784294]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304545.486808227]: Costmap2DROS transform timeout. Current time: 1638304545.4867, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304545.586876860]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304546.486889572]: Costmap2DROS transform timeout. Current time: 1638304546.4868, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304546.686879040]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304547.487005195]: Costmap2DROS transform timeout. Current time: 1638304547.4869, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304547.687065094]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304548.487157354]: Costmap2DROS transform timeout. Current time: 1638304548.4869, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304548.786859008]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304549.501670048]: Costmap2DROS transform timeout. Current time: 1638304549.5016, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304549.786870892]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304550.507509573]: Costmap2DROS transform timeout. Current time: 1638304550.5074, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304550.886903714]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304551.507555966]: Costmap2DROS transform timeout. Current time: 1638304551.5075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304551.986840106]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304552.586756064]: Costmap2DROS transform timeout. Current time: 1638304552.5867, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304553.086796861]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304553.586785480]: Costmap2DROS transform timeout. Current time: 1638304553.5867, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304554.086815143]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304554.587016908]: Costmap2DROS transform timeout. Current time: 1638304554.5869, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304554.896510509]: No laser scan received (and thus no pose updates have been published) for 26.574230 seconds. Verify that data is being published on the /scan topic.
[ WARN] [1638304555.086854507]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304555.601611732]: Costmap2DROS transform timeout. Current time: 1638304555.6015, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304556.186877788]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304556.601690439]: Costmap2DROS transform timeout. Current time: 1638304556.6016, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304557.286794170]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304557.607513732]: Costmap2DROS transform timeout. Current time: 1638304557.6074, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304558.286812783]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304558.607549960]: Costmap2DROS transform timeout. Current time: 1638304558.6075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304559.286897525]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304559.607682020]: Costmap2DROS transform timeout. Current time: 1638304559.6075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304560.286927744]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304560.686990335]: Costmap2DROS transform timeout. Current time: 1638304560.6868, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304561.286928850]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304561.701706870]: Costmap2DROS transform timeout. Current time: 1638304561.7016, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304562.386754648]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304562.707602511]: Costmap2DROS transform timeout. Current time: 1638304562.7075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304563.386880023]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304563.707606621]: Costmap2DROS transform timeout. Current time: 1638304563.7075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304564.386915002]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304564.707637660]: Costmap2DROS transform timeout. Current time: 1638304564.7075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304565.387943633]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304565.786781150]: Costmap2DROS transform timeout. Current time: 1638304565.7867, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304566.486876614]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304566.786810849]: Costmap2DROS transform timeout. Current time: 1638304566.7867, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304566.875557505]: Transform timeout for global_costmap. Current time: 1638304566.8754, pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304566.875856759]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304566.975655448]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304567.076346726]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304567.175877929]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304567.275632859]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304567.375964962]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304567.475794260]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304567.486966580]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304567.575798732]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304567.675997088]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304567.775892343]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304567.786889574]: Costmap2DROS transform timeout. Current time: 1638304567.7867, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304567.875707125]: Transform timeout for global_costmap. Current time: 1638304567.8755, pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304567.876241235]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304567.976337470]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304568.075968581]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304568.175957694]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304568.275863220]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304568.375795664]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304568.475899500]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304568.487073552]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304568.575904658]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304568.675889298]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304568.775956581]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304568.787031455]: Costmap2DROS transform timeout. Current time: 1638304568.7868, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304568.875933377]: Transform timeout for global_costmap. Current time: 1638304568.8757, pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304568.876190099]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304568.975902750]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304569.075632465]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304569.175862968]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304569.275901102]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304569.375901431]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304569.475868784]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304569.575987441]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304569.586908220]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304569.676069667]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304569.776026917]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304569.801818700]: Costmap2DROS transform timeout. Current time: 1638304569.8015, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304569.876035831]: Transform timeout for global_costmap. Current time: 1638304569.8758, pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304569.876279015]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304569.896533178]: No laser scan received (and thus no pose updates have been published) for 41.574253 seconds. Verify that data is being published on the /scan topic.
[ WARN] [1638304569.975716143]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304570.075779419]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304570.175987758]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304570.275909586]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304570.376052830]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304570.475868742]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304570.575809434]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304570.586930843]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304570.675859599]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304570.775764409]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304570.807631705]: Costmap2DROS transform timeout. Current time: 1638304570.8075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304570.875780101]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304570.975911572]: Transform timeout for global_costmap. Current time: 1638304570.9757, pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304570.976242185]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304571.076055648]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304571.176075100]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304571.275646400]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304571.375655320]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304571.475760018]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304571.575664146]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304571.587165640]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304571.675595241]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304571.775630175]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304571.807615637]: Costmap2DROS transform timeout. Current time: 1638304571.8075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304571.875754376]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304571.975558237]: Clearing both costmaps to unstuck robot (3.00m).
[ERROR] [1638304571.975700572]: Cannot clear map because pose cannot be retrieved
[ERROR] [1638304571.975827165]: Cannot clear map because pose cannot be retrieved
[ WARN] [1638304572.075521300]: Transform timeout for global_costmap. Current time: 1638304572.0755, pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304572.075649318]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304572.175590188]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304572.275584698]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304572.375764198]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304572.475675744]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304572.575760244]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304572.675637870]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304572.686738761]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304572.775573592]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304572.875659337]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304572.886809638]: Costmap2DROS transform timeout. Current time: 1638304572.8867, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304572.975723300]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304573.075566345]: Transform timeout for global_costmap. Current time: 1638304573.0755, pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304573.075795453]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304573.175856689]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304573.275868901]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304573.375649099]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304573.475775513]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304573.575611232]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304573.675579625]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304573.775667644]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304573.786858986]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304573.875693339]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304573.901667672]: Costmap2DROS transform timeout. Current time: 1638304573.9016, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304573.975661317]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304574.075758387]: Transform timeout for global_costmap. Current time: 1638304574.0757, pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304574.076044078]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304574.175873558]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304574.275733340]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304574.375904710]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304574.476232398]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304574.575768490]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304574.675614659]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304574.775711910]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304574.875624530]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304574.886806021]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304574.907613028]: Costmap2DROS transform timeout. Current time: 1638304574.9075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304574.975696941]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304575.075914547]: Transform timeout for global_costmap. Current time: 1638304575.0757, pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304575.076208741]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304575.175628422]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304575.275678483]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304575.375676042]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304575.475725782]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304575.575702815]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304575.675744241]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304575.775788444]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304575.875859823]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304575.887089560]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304575.907674151]: Costmap2DROS transform timeout. Current time: 1638304575.9075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304575.975673376]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304576.075869269]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304576.175714851]: Transform timeout for global_costmap. Current time: 1638304576.1755, pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304576.176145082]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304576.275779324]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304576.375937318]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304576.475664673]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304576.575884048]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304576.675911437]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304576.776074445]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304576.875909732]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304576.886944256]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304576.907964913]: Costmap2DROS transform timeout. Current time: 1638304576.9075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304576.975742169]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304577.075925193]: Unable to get starting pose of robot, unable to create global plan
[ WARN] [1638304577.175780294]: Transform timeout for global_costmap. Current time: 1638304577.1756, pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304577.176193312]: Rotate recovery behavior started.
[ WARN] [1638304577.886950039]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304577.926821738]: Costmap2DROS transform timeout. Current time: 1638304577.9266, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304578.886961889]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304578.976620834]: Costmap2DROS transform timeout. Current time: 1638304578.9766, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304579.986780906]: Costmap2DROS transform timeout. Current time: 1638304579.9867, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304579.986897019]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304581.001552574]: Costmap2DROS transform timeout. Current time: 1638304581.0015, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304581.086945876]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304582.001720296]: Costmap2DROS transform timeout. Current time: 1638304582.0016, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304582.186781349]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304583.001741203]: Costmap2DROS transform timeout. Current time: 1638304583.0017, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304583.186866504]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304584.007522460]: Costmap2DROS transform timeout. Current time: 1638304584.0074, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304584.187036601]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304584.896490505]: No laser scan received (and thus no pose updates have been published) for 56.574216 seconds. Verify that data is being published on the /scan topic.
[ WARN] [1638304585.007624208]: Costmap2DROS transform timeout. Current time: 1638304585.0075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304585.286906900]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304586.026623656]: Costmap2DROS transform timeout. Current time: 1638304586.0265, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304586.286984459]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304587.076639692]: Costmap2DROS transform timeout. Current time: 1638304587.0765, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304587.386803100]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304588.076728094]: Costmap2DROS transform timeout. Current time: 1638304588.0766, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304588.386821644]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304589.086791837]: Costmap2DROS transform timeout. Current time: 1638304589.0867, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304589.486720348]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304590.101528554]: Costmap2DROS transform timeout. Current time: 1638304590.1015, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304590.586687498]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304591.101591433]: Costmap2DROS transform timeout. Current time: 1638304591.1015, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304591.586729431]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304592.101795336]: Costmap2DROS transform timeout. Current time: 1638304592.1016, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304592.586780760]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304593.107562654]: Costmap2DROS transform timeout. Current time: 1638304593.1075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304593.586788798]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304594.107576055]: Costmap2DROS transform timeout. Current time: 1638304594.1075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304594.586830127]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304595.107587125]: Costmap2DROS transform timeout. Current time: 1638304595.1075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304595.686880725]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304596.107657383]: Costmap2DROS transform timeout. Current time: 1638304596.1075, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304596.786774212]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304597.126617945]: Costmap2DROS transform timeout. Current time: 1638304597.1265, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304597.786775698]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304598.126623829]: Costmap2DROS transform timeout. Current time: 1638304598.1265, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304598.886781147]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1638304599.176553573]: Costmap2DROS transform timeout. Current time: 1638304599.1765, global_pose stamp: 1638304528.6382, tolerance: 0.5000
[ WARN] [1638304599.896375032]: No laser scan received (and thus no pose updates have been published) for 71.574128 seconds. Verify that data is being published on the /scan topic.
2d_pose_estimateした所、amclに問題が起きたようなポップアップが出現する
rosbag取得(2021-12-01-06-15-13.bag)
動画(turtlebot3navigation-room-2021-12-01_06.13.23.mp4)