ros1melodic的ros小车在路径规划时不动报错
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cooneo@cooneo:~/catkin_ws$ roslaunch nav_slam nav_slam.launch
... logging to /home/cooneo/.ros/log/2fb4aa40-2a1f-11f0-acbc-dca632e39caf/roslaunch-cooneo-28683.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.started roslaunch server http://192.168.0.153:41293/
SUMMARY
CLEAR PARAMETERS
- /move_base/
PARAMETERS
- /amcl/base_frame_id: base_footprint
- /amcl/global_frame_id: map
- /amcl/gui_publish_rate: 10.0
- /amcl/kld_err: 0.05
- /amcl/kld_z: 0.99
- /amcl/laser_lambda_short: 0.1
- /amcl/laser_likelihood_max_dist: 2.0
- /amcl/laser_max_beams: 30
- /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: 5000
- /amcl/min_particles: 500
- /amcl/odom_alpha1: 0.2
- /amcl/odom_alpha2: 0.2
- /amcl/odom_alpha3: 0.8
- /amcl/odom_alpha4: 0.2
- /amcl/odom_alpha5: 0.1
- /amcl/odom_frame_id: odom
- /amcl/odom_model_type: diff
- /amcl/transform_tolerance: 0.2
- /amcl/update_min_a: 0.5
- /amcl/update_min_d: 0.2
- /move_base/TrajectoryPlannerROS/acc_lim_theta: 0.6
- /move_base/TrajectoryPlannerROS/acc_lim_x: 1.0
- /move_base/TrajectoryPlannerROS/acc_lim_y: 0.0
- /move_base/TrajectoryPlannerROS/holonomic_robot: False
- /move_base/TrajectoryPlannerROS/max_vel_theta: 1.0
- /move_base/TrajectoryPlannerROS/max_vel_x: 0.5
- /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 1.0
- /move_base/TrajectoryPlannerROS/min_vel_theta: -1.0
- /move_base/TrajectoryPlannerROS/min_vel_x: 0.1
- /move_base/TrajectoryPlannerROS/sim_granularity: 0.05
- /move_base/TrajectoryPlannerROS/sim_time: 0.8
- /move_base/TrajectoryPlannerROS/vtheta_samples: 20
- /move_base/TrajectoryPlannerROS/vx_samples: 18
- /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.1
- /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.05
- /move_base/global_costmap/cost_scaling_factor: 3.0
- /move_base/global_costmap/global_frame: map
- /move_base/global_costmap/inflation_radius: 0.2
- /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: 1.0
- /move_base/global_costmap/raytrace_range: 3.5
- /move_base/global_costmap/robot_base_frame: base_footprint
- /move_base/global_costmap/robot_radius: 0.12
- /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: laser
- /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: 1.0
- /move_base/local_costmap/cost_scaling_factor: 3.0
- /move_base/local_costmap/global_frame: odom
- /move_base/local_costmap/height: 3
- /move_base/local_costmap/inflation_radius: 0.2
- /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/robot_radius: 0.12
- /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: laser
- /move_base/local_costmap/scan/topic: scan
- /move_base/local_costmap/static_map: False
- /move_base/local_costmap/transform_tolerance: 1.0
- /move_base/local_costmap/update_frequency: 10.0
- /move_base/local_costmap/width: 3
- /rosdistro: melodic
- /rosversion: 1.14.13
NODES
/
amcl (amcl/amcl)
map_server (map_server/map_server)
move_base (move_base/move_base)ROS_MASTER_URI=http://192.168.0.153:11311
process[map_server-1]: started with pid [29149]
process[amcl-2]: started with pid [29150]
process[move_base-3]: started with pid [29152]
[ INFO] [1746497412.106544390]: Requesting the map...
[ WARN] [1746497412.110909306]: Request for map failed; trying again...
[ WARN] [1746497412.612591842]: Request for map failed; trying again...
[ WARN] [1746497413.114413875]: Request for map failed; trying again...
[ WARN] [1746497413.615940977]: Request for map failed; trying again...
[ WARN] [1746497414.117424610]: Request for map failed; trying again...
[ INFO] [1746497414.684970140]: Received a 1984 X 1984 map @ 0.050 m/pix[ INFO] [1746497415.102103451]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1746497415.453039350]: Done initializing likelihood field model.
[ WARN] [1746497415.718526470]: global_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters
[ INFO] [1746497415.784228117]: global_costmap: Using plugin "static_layer"
[ INFO] [1746497415.852520275]: Requesting the map...
[ INFO] [1746497416.083940712]: Resizing costmap to 1984 X 1984 at 0.050000 m/pix
[ INFO] [1746497416.162248389]: Received a 1984 X 1984 map at 0.050000 m/pix
[ INFO] [1746497416.187822907]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1746497416.210287478]: Subscribed to Topics: scan
[ INFO] [1746497416.257389235]: global_costmap: Using plugin "inflation_layer"
[ WARN] [1746497416.732874443]: local_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters
[ INFO] [1746497416.781833401]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1746497416.792463268]: Subscribed to Topics: scan
[ INFO] [1746497416.838073200]: local_costmap: Using plugin "inflation_layer"
[ INFO] [1746497417.685828974]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1746497417.704228209]: Sim period is set to 0.05
[ WARN] [1746497417.720670628]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settings robust against changes of costmap resolution.
[ INFO] [1746497417.937169600]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1746497417.964736543]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1746497418.047924455]: odom received!
[ WARN] [1746498260.262650638]: Costmap2DROS transform timeout. Current time: 1746498260.2475, global_pose stamp: 1746498259.7060, tolerance: 0.5000
[ WARN] [1746498260.267267042]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1746498269.775144485]: Could not get robot pose, cancelling reconfiguration
[ERROR] [1746498270.848120121]: Extrapolation Error looking up robot pose: Lookup would require extrapolation into the past. Requested time 1746498259.705988196 but the earliest data is at time 1746498260.849833965, when looking up transform from frame [base_footprint] to frame [map]
会出现上述的报错，这是完整的运行结果。tf树完整，不知道原因出在哪里，希望有大佬能够帮助小白。下位机使用的arduino mega2560 rosarduinobridge包为python2版本