记录调试navigation碰到的问题

从scout_mini_navigation.launch出发进行修改，新建realworld.launch

<?xml version="1.0"?>
<launch>

    <!-- use robot pose ekf to provide odometry-->


    <node pkg="amcl" type="amcl" name="amcl" output="screen">
        <rosparam file="$(find scout_gazebo_sim)/param/amcl_params_diff.yaml" command="load" />
        <param name="initial_pose_x" value="0"/>
        <param name="initial_pose_y" value="0"/>
        <param name="initial_pose_a" value="0"/>
    </node>

    <node pkg="map_server" type="map_server" name="map_server" args="$(find scout_gazebo_sim)/maps/workstastion.yaml" output="screen">
        <param name="frame_id" value="map"/>
    </node>

    <!--  ************** Navigation ***************  -->
    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
        <rosparam file="$(find scout_gazebo_sim)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
        <rosparam file="$(find scout_gazebo_sim)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
        <rosparam file="$(find scout_gazebo_sim)/param/local_costmap_params.yaml" command="load" />
        <rosparam file="$(find scout_gazebo_sim)/param/global_costmap_params.yaml" command="load" />
        <rosparam file="$(find scout_gazebo_sim)/param/planner.yaml" command="load" />
        <param name="base_global_planner" value="global_planner/GlobalPlanner" />
        <param name="planner_frequency" value="1.0" />
        <param name="planner_patience" value="5.0" />
        <param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS" />
        <param name="controller_frequency" value="5.0" />
        <param name="controller_patience" value="15.0" />
        <param name="clearing_rotation_allowed" value="true" />
    </node>

    <!--  **************** Visualisation ****************  -->
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/scout_mini_navigation.rviz"/>
</launch>

分别启动底盘、激光雷达、pointcloud_to_laserscan，然后执行roslaunch scout_gazebo_sim realworld.launch命令，报错如下：

 Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame base_link does not exist.. canTransform returned after 0.101055 timeout was 0.1.
[ WARN] [1734526538.146109970]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame base_link does not exist.. canTransform returned after 0.100187 timeout was 0.1.
[ WARN] [1734526539.081725641]: No laser scan received (and thus no pose updates have been published) for 1734526539.081694 seconds.  Verify that data is being published on the /scan topic.

尝试查看rqt_graph

缺少odom信息，尝试打开tf_tree,报错no tf xxxx

目前想到的解决方法1：tf转换关系不对，或者是缺少odom信息，先尝试打开tf-tree，

添加以下语句，并注意语法和坐标系

<node pkg="tf" type="static_transform_publisher" name="map_base_transform"

args="0 0 0 0 0 0 map base_footprint 100"/>

解决方法2：忘了提供 2D 姿势或者加载的地图不对，重新建立工位的栅格（已验证，该方法无效） 

解决方法3：因为之前删掉了launch文件中的robot_pose_ekf功能包部分，尝试将其重新加入

问题2：打开rviz，提示For frame [velodyne]: Fixed Frame [map] does not exist

将fixed frame替换成velodyne，Laserscan可以正常显示，但是map会报错

问题3：加入robot_pose_ekf功能包后，启动launch文件，报错如下：

[ERROR] [1587284286.565322789]: filter time older than odom message buffer
[ERROR] [1587284286.581064157]: Covariance specified for measurement on topic wheelodom is zero

使用rostopic echo /odom命令查看，确实covariance全为0

header: 
  seq: 100578
  stamp: 
    secs: 1734536796
    nsecs: 248238382
  frame_id: "odom"
child_frame_id: "base_link"
pose: 
  pose: 
    position: 
      x: 0.0
      y: 0.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---