Issue With Navigation Stack Locobot WX200

[brennanmk]

Hi,

I am getting the following error when running xslocobot_nav.launch:

Could not find a connection between 'locobot/odom' and 'locobot/base_footprint' because they are not part of the same tree."

I ran rqt_tf_tree it appears that odom and base_footprint are not connected.

Any insights into this issue would be great,

Thanks!

[lukeschmitt-tr]

This is a known issue with the Create 3 version of the LoCoBot, caused by the namespacing of TF published by the base. See iRobotEducation/create3_docs#39 for an explanation and iRobotEducation/create3_docs#118 (reply in thread) for a potential workaround. This will be fixed on our end when we have the bandwidth.

[lukeschmitt-tr]

@brennanmk We have now pushed the updated Navigation package to GitHub and the corresponding documentation to our doc site. The following steps can be taken to update the robot:

1. Pull the changes from the remote to the robot. Make sure the robot is connected to the internet.

   cd ~/interbotix_ws
   cd src/interbotix_ros_core && git pull && cd -
   cd src/interbotix_ros_rovers && git pull && cd -
   cd src/interbotix_ros_toolboxes && git pull && cd -

2. Install any new dependencies.

   cd ~/interbotix_ws && rosdep install --from-paths src --ignore-src -r -y --rosdistro=$ROS_DISTRO

3. Rebuild the workspace, checking for any errors in the process.

   cd ~/interbotix_ws && catkin_make

4. Update the Create 3 base configurations.
   • Update the Main configuration and the Application ROS 2 Parameters File on the Create 3's webserver according to the instructions here.
   • Make sure to save the changes and restart the application for the updates to take effect.
5. Check LoCoBot <-> Remote computer ROS network connectivity.
   • Follow the guide here to verify bidirectional ROS network connectivity.

Check the Troubleshooting guide if you run into any issues.

[brennanmk]

Hello again!

Thank you for getting back to me,

I went ahead and followed the steps specified above but am still having some issues.

[ WARN] [1667324892.132499576]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1667324891.111344)! Error="Lookup would require extrapolation -27793617.761847734s into the future. Requested time 1667324891.111343861 but the latest data is at time 1639531273.349496126, when looking up transform from frame [locobot/base_footprint] to frame [locobot/odom]. canTransform returned after 0.200389 timeout was 0.2.".

In RVIZ, there are a lot of warning messages regarding locobot/base_footprint. Also, the mapping section is giving a warning that says no map recieved

Thank you for all of your help!

[lukeschmitt-tr]

Lookup would require extrapolation -27793617.761847734s into the future

It's possible that your Create 3 base's clock is not properly synchronized. Check out the Create® 3 base clock is not synchronized Troubleshooting guide for a solution to this problem.