First of all, I want to thank Mathieu Labbé for this great system.
I am trying to use rtabmap for navigation and mapping with pioneer3at combined with a stereo-camera system (bumblebee2).
The mapping is working great and now I try to go for the next step and have also the navigation part included, but with no prior knowledge about the environment. Actually, what I try is SLAM + Navigation. To start of, it would be enough to send navGoals2D via the RVIZ UI and the robot make its way to the goal.
I followed the az3_mapping_robot_stereo_nav.launch as provided by the corresponding ROS wiki page, but for some reasons I get the following error every 5 seconds:
"[ WARN] [1441225422.168764378]: Waiting on transform from base_footprint to map to become available before running costmap, tf error: . canTransform returned after 0.100647 timeout was 0.1.. canTransform returned after 0.100674 ..."
Has anyone encountered a similar behavior?
I start the bumblee-driver on the robot, as well as rosaria to communicate with the platform.
The rest is started on remote-oc, including roscore.
What parts am I missing to fulfill the task?
Thank you so much. I appreciate any help.
I attached the rqt_graph. It seems that the planner and rosaria just float around...
1. Is base_footprint transform published on TF? What is your TF tree? Well, all rtabmap nodes have not "frame_id" redefined, which is "base_link" by default. If you have only base_link published, you may change the "base_footprint" frame in the yaml files to "base_link".
2. "stereo_nodelet" is not created (at least in the launch file provided), so move_base will not receive the "/planner_cloud" for the local costmap.
3. The map_assembler node is not connected in the graph (looks like map_optimizer missing). In current rtabmap_ros version, you don't need map_optimizer or map_assembled. You can connect directly the "rtabmap/proj_map" to "/map" used by move_base so the global costmap can be created. To have the point cloud, rtabmap node publishes "rtabmap/cloud_map" for convenience. See the doc for corresponding parameters.