[kinetic][cob_collision_velocity_filter] Could not get robot pose

[fmessmer]

When testing cob_bringup on cob4-8 under kinetic, I get the following warning messages once per second (copied from rqt_console):

Node: /collision_velocity_filter
Time: 14:38:41.047085207 (2017-02-17)
Severity: Warn
Published Topics: /base/twist_mux/command_safe, /collision_velocity_filter/anti_collision_costmap/costmap, /collision_velocity_filter/anti_collision_costmap/costmap_updates, /collision_velocity_filter/anti_collision_costmap/footprint, /collision_velocity_filter/anti_collision_costmap/obstacle_layer/clearing_endpoints, /collision_velocity_filter/anti_collision_costmap/obstacle_layer/parameter_descriptions, /collision_velocity_filter/anti_collision_costmap/obstacle_layer/parameter_updates, /collision_velocity_filter/anti_collision_costmap/parameter_descriptions, /collision_velocity_filter/anti_collision_costmap/parameter_updates, /collision_velocity_filter/parameter_descriptions, /collision_velocity_filter/parameter_updates, /collision_velocity_filter/velocity_limited_marker, /relevant_obstacles_grid, /rosout

Could not get robot pose, cancelling reconfiguration

Location:
/tmp/binarydeb/ros-kinetic-costmap-2d-1.14.0/src/costmap_2d_ros.cpp:Costmap2DROS::movementCB:355

Node: /collision_velocity_filter
Time: 14:38:40.959705538 (2017-02-17)
Severity: Warn
Published Topics: /base/twist_mux/command_safe, /collision_velocity_filter/anti_collision_costmap/costmap, /collision_velocity_filter/anti_collision_costmap/costmap_updates, /collision_velocity_filter/anti_collision_costmap/footprint, /collision_velocity_filter/anti_collision_costmap/obstacle_layer/clearing_endpoints, /collision_velocity_filter/anti_collision_costmap/obstacle_layer/parameter_descriptions, /collision_velocity_filter/anti_collision_costmap/obstacle_layer/parameter_updates, /collision_velocity_filter/anti_collision_costmap/parameter_descriptions, /collision_velocity_filter/anti_collision_costmap/parameter_updates, /collision_velocity_filter/parameter_descriptions, /collision_velocity_filter/parameter_updates, /collision_velocity_filter/velocity_limited_marker, /relevant_obstacles_grid, /rosout

Costmap2DROS transform timeout. Current time: 1487338720.9596, global_pose stamp: 0.0000, tolerance: 0.3000

Location:
/tmp/binarydeb/ros-kinetic-costmap-2d-1.14.0/src/costmap_2d_ros.cpp:Costmap2DROS::getRobotPose:538

@ipa-mig @ipa-fmw @ipa-nhg
I see the global_pose.stamp is 0.0, but I don't know why...
Do I need to localize or do something to set the robot_pose?
Is this a wrong configuration of cob4-8?
It's not just an issue of cob4-8!

Hints and help appreciated!

@fmessmer FYI

[fmessmer]

@ipa320/navigation-push
I'm testing kinetic and came across this Warning again...
Though, it's just a warning and so far I could not figure out what the effects might be...still, it's pretty "spammy"...thus, we should try to avoid it...but I do not have a clue...any ideas?

[fmessmer]

related issue is ros-planning/navigation#517

[fmessmer]

the costmap parameters were just wrong, see: https://github.com/mojin-robotics/mojin_robots/pull/167

[shenlirobot]

Hi @fmessmer:
Can this issue be resolved by changing the costmap parameters at https://github.com/ipa320/cob_robots/blob/indigo_dev/cob_hardware_config/robots/raw3-5/config/local_costmap_params.yaml? Could you share the new costmap parameters if possible?

Thank you!

[fmessmer]

I guess the main trick was to set the following in local_costmap_params.yaml

- global_frame: /base_link
- robot_base_frame: /base_footprint
+ global_frame: base_footprint
+ robot_base_frame: base_footprint