turtlebot/turtlebot4_tutorials

Failed to run nav_to_pose example - amcl/get_state service not available

Closed this issue · 1 comments

BertVanAcker commented

Please provide the following information:

  • OS: Ubuntu 20.04
  • ROS Distro: Galactic
  • Built from source or installed: Debian install

Expected behaviour
I'm trying to run the nav_to_pose python example with the nav2 simple commander. Normally, this would command the robot to dock, undock, set initial position and move to the desired position.

Actual behaviour
I cannot run the python nav_to_pose example, I continously get the following message:

[basic_navigator]: amcl/get_state service not available, waiting...

I also tried launching the turtlebot_navigation package before running the nav_to_pose example but this also did not work, this produces the following message:

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

To Reproduce
Provide the steps to reproduce:

  1. launch turtlebot4 without slam (ros2 launch turtlebot4_navigation nav_bringup.launch.py slam:=off) -> does this work without the lidar?
  2. launch nav_to_pose example
roni-kreinin commented

The RPLIDAR is still required for localization as the sensor data is used for figuring out where the robot is on the map.

Also can you try updating your turtlebot4_navigation package to make sure it is on version 0.1.1?

  • 😕1