Costmap2DROS transform timeout

Posted by drishti_works on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Costmap2DROS-transform-timeout-tp4718.html

Hi Matthieu,

We are currently trying to deploy the KinectV2 on our UGV.

Description of our stack:
Kinectv2 -> libfreenect2 -> kinect2_bridge -> RTAB-Map -> Move_base
Running everything on the Jetson TX2.

Upon running move_base we are getting the following error:
[ WARN] [1530340897.490120634]: Costmap2DROS transform timeout. Current time: 1530340897.4900, global_pose stamp: 1530340896.9615, tolerance: 0.3000

We have observed that the grid map (2d Occupancy Map ) that is created using the rtabmap is being published at a frequency of 1 Hz. I think this is whats causing move_base to give the error. we tried changing the tolerance limits in the Costmap2Dros and move_base config parameters, however for some reason move_base is not registering the change in parameters.

The same error does not arise in simulation or while using the zed camera (We had to stop using the ZED due to some hardware issues). It is only after switching to the kinectv2 we are facing an error. We are using the launch files for the kinectv2 and rtabmap as mentioned in the Hand Held Mapping Tutorial.

I hope you could help us with the same.

Thank you,
Ankit