Fetch机器人在Gazebo仿真中使用fetch_navigation时move_base崩溃

wenfubi

ROS-Melodic
Gazebo9
以下是运行fetch_nav.launch时的报错：

[move_base-3] restarting process
process[move_base-3]: started with pid [14120]
[ WARN] [1744617202.652635189, 72.192000000]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 72.192 timeout was 0.1.
[ WARN] [1744617203.157262491, 72.694000000]: global_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ INFO] [1744617203.157795828, 72.695000000]: global_costmap: Using plugin "static_map"
[ INFO] [1744617203.160460305, 72.698000000]: Requesting the map...
[ INFO] [1744617203.360411965, 72.898000000]: Resizing costmap to 401 X 444 at 0.050000 m/pix
[ INFO] [1744617203.459518519, 72.998000000]: Received a 401 X 444 map at 0.050000 m/pix
[ INFO] [1744617203.461149980, 73.000000000]: global_costmap: Using plugin "obstacles"
[ INFO] [1744617203.505019019, 73.043000000]:     Subscribed to Topics: base_scan
[ INFO] [1744617203.519771029, 73.058000000]: global_costmap: Using plugin "inflater"
[ INFO] [1744617203.531410625, 73.071000000]: local_costmap: Using plugin "obstacles"
[ INFO] [1744617203.531721624, 73.071000000]:     Subscribed to Topics: base_scan
[ INFO] [1744617203.538537583, 73.078000000]: local_costmap: Using plugin "inflater"
[ INFO] [1744617203.546660726, 73.086000000]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1744617203.549665214, 73.089000000]: Sim period is set to 0.04
[ INFO] [1744617203.749792211, 73.286000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1744617203.751507742, 73.288000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1744617203.759197432, 73.295000000]: odom received!
[move_base-3] process has died [pid 14120, exit code -11, cmd /opt/ros/melodic/lib/move_base/move_base cmd_vel:=cmd_vel odom:=odom map:=map __name:=move_base __log:=/home/robot/.ros/log/5dbded46-1905-11f0-81cb-e0d045bc90f3/move_base-3.log].
log file: /home/robot/.ros/log/5dbded46-1905-11f0-81cb-e0d045bc90f3/move_base-3*.log