costmap_2d tf变换 建图错误

运行指定区域建图命令:
roslaunch ailibot_slam frontier_exploration.launch
错误信息:
[ WARN] [1565591858.913845757]: Costmap2DROS transform timeout. Current time: 1565591858.9138, global_pose stamp: 1565591858.3790, tolerance: 0.5000

[ WARN] [1565591858.913882120]: Could not get robot pose, cancelling reconfiguration

[ WARN] [1565592060.058385604]: Illegal bounds change, was [tl: (-49.975000, -49.975000), br: (49.225001, 49.225001)], but is now [tl: (-50.000000, -50.000000), br: (49.175001, 49.175001)]. The offending layer is explore_costmap/explore_boundary
[ERROR] [1567995258.683465578]: Extrapolation Error looking up robot pose: Lookup would require extrapolation into the past.  Requested time 1567995239.097013712 but the earliest data is at time 1567995248.744495970, when looking up transform from frame [base_footprint] to frame [map]



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ddwy

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Costmap2DROS::getRobotPose是通过tf变换实现的获取当前位姿。在这里有可能会出现tf的问题
if (current_time.toSec() - global_pose.stamp_.toSec() > transform_tolerance_)
{
ROS_WARN_THROTTLE(1.0,"Costmap2DROS transform timeout. Current time: %.4f, global_pose stamp: %.4f, tolerance: %.4f",current_time.toSec(),global_pose.stamp_.toSec(), transform_tolerance_);
return false;
}

ddwy

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修改tolerance的值

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