在跟着教程走到运行nav2,初始化设置的时候,rviz出现的不是error,而是warm,rviz界面如下:
终端报错如下:
[controller_server-4] [INFO] [1712253661.690443611] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-10] [INFO] [1712253661.773769226] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-10] [INFO] [1712253661.773940891] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-4] [INFO] [1712253662.190515009] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[controller_server-4] [INFO] [1712253662.690512522] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-10] [INFO] [1712253662.774192578] [rviz2]: Waiting for the lifecycle_manager_navigation/is_active service...
[rviz2-10] [INFO] [1712253662.774363237] [rviz2]: Sending lifecycle_manager_navigation/is_active request
[controller_server-4] [INFO] [1712253663.190443715] [local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
目前我自己的nav2功能包中,CMAKEList文件:
cmake_minimum_required(VERSION 3.5)
project(sim_nav2)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(nav2_bringup REQUIRED)
install(
DIRECTORY launch param maps
DESTINATION share/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()
package.xml文件:
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>sim_nav2</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="wjndem@163.com">jeni</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>nav2_bringup</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
launch文件:
'''
作者: 小鱼
公众号: 鱼香ROS
QQ交流群: 2642868461
描述: Nav2 launch启动文件
'''
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description():
#=============================1.定位到包的地址=============================================================
fishbot_navigation2_dir = get_package_share_directory('sim_nav2')
nav2_bringup_dir = get_package_share_directory('nav2_bringup')
#=============================2.声明参数,获取配置文件路径===================================================
# use_sim_time 这里要设置成true,因为gazebo是仿真环境,其时间是通过/clock话题获取,而不是系统时间
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
map_yaml_path = LaunchConfiguration('map',default=os.path.join(fishbot_navigation2_dir,'maps','sim_map.yaml'))
nav2_param_path = LaunchConfiguration('params_file',default=os.path.join(fishbot_navigation2_dir,'param','whe_nav2.yaml'))
rviz_config_dir = os.path.join(nav2_bringup_dir,'rviz','nav2_default_view.rviz')
#=============================3.声明启动launch文件,传入:地图路径、是否使用仿真时间以及nav2参数文件==============
nav2_bringup_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([nav2_bringup_dir,'/launch','/bringup_launch.py']),
launch_arguments={
'map': map_yaml_path,
'use_sim_time': use_sim_time,
'params_file': nav2_param_path}.items(),
)
rviz_node = Node(
package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config_dir],
parameters=[{'use_sim_time': use_sim_time}],
output='screen')
return LaunchDescription([nav2_bringup_launch,rviz_node])
麻烦大佬帮忙看看什么问题,谢谢!