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hi mattieu,
I have launched rtabmap, and it is now in the localization mode. I have sent the goal with a python code to the robot (real robot), but I face two issues here:
1) it shows me the following error and it start turning around itself:
[ INFO] [1619454578.573909470]: Got new plan
[ INFO] [1619454578.773895008]: Got new plan
[ERROR] [1619454578.774029479]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 1619454581.124233961 but th
e latest data is at time 1619454578.867378206, when looking up transform from frame [odom] to frame [map]
[ERROR] [1619454578.774071989]: Global Frame: odom Plan Frame size 23: map
[ WARN] [1619454578.774100368]: Could not transform the global plan to the frame of the controller
[ERROR] [1619454578.774125181]: Could not get local plan
[ WARN] [1619454578.973950342]: Clearing costmap to unstuck robot (1.840000m).
[ INFO] [1619454579.186135639]: rtabmap (703): Rate=1.00s, Limit=0.000s, Conversion=0.0063s, RTAB-Map=0.6834s, Maps update=0.0006s pub=0.0000s (loca
l map=53, WM=53)
[ INFO] [1619454579.373885707]: Got new plan
[ERROR] [1619454579.374030985]: Extrapolation Error: Lookup would require extrapolation into the future. Requested time 1619454581.606234074 but th
e latest data is at time 1619454579.467377900, when looking up transform from frame [odom] to frame [map]
[ERROR] [1619454579.374068917]: Global Frame: odom Plan Frame size 23: map
[ WARN] [1619454579.374117350]: Could not transform the global plan to the frame of the controller
[ERROR] [1619454579.374156141]: Could not get local plan
[ WARN] [1619454579.573883275]: Rotate recovery behavior started.
2) How can I cancel the goal, by a python code ? I have found the following command line that it only works in simulation environemt, not for the real robot.
rostopic pub -1 /move_base/cancel actionlib_msgs/GoalID -- {}
how can I cancel the goal for the real robot.
I would be grateful if anybody can help.
Thanks
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