Hi, thank you very much for making this repository public. I am able to make the code fine using catkin_make but when I run the second launch file I do not receive the successful odometry message.

The respective launch file is:
roslaunch global_path_planning turtlebot3_ros_world.launch

The error message recieved is:
[ WARN] [1683553082.320970026, 141.340000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: Could not find a connection between 'map' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.1 timeout was 0.1

I have tried to publish a static transform (and am able to get the successful odometry message). This does however means the robot never moves from this position.

Your help is greatly appreciated! Thanks

Hi, I am following ur tutorials.
I encountered problems with launching the command

roslaunch spot_config gazebo.launch

I got:

RLException: [gazebo.launch] is neither a launch file in package [spot_config] nor is [spot_config] a launch file name
The traceback for the exception was written to the log file

I already source the setup.bash, it confused me since rospack list could not find the spot_config pkg.

so I tried to add the champ's robots repo and install spot_ros there using ./install_descriptions.

and launch the same command, it works but I am getting

[WARN] [WallTime: 1438070984.731293] [4.961000] Controller Spawner couldn't find the expected controller_manager ROS interface.

I look up solutions online but find nothing useful.
I am the one who opens the pull request and tries to fix the submodule problem so I can replicate your work. Please help! I really thinks your tutorials are great!

hi，SakshayMahna .I am very interested in your project. Is your project writing a global path planner about genetic algorithms? how do i use it

In turtlebot3_ws ,When run A Star based Path Planning project robot create global and local paths and the robot avoid static obstacles but when make dynamic obstacles the robot can't avoid it.

❯ roslaunch global_path_planning turtlebot3_ros_world.launch
... logging to /home/solution/.ros/log/7889abfc-c5a6-11ec-89f2-a5e157f708de/roslaunch-hussien-43692.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://hussien:33741/

SUMMARY

PARAMETERS

• /map_server/frame_id: odom
• /move_base/DWAPlannerROS/acc_lim_theta: 3.2
• /move_base/DWAPlannerROS/acc_lim_x: 2.5
• /move_base/DWAPlannerROS/acc_lim_y: 0.0
• /move_base/DWAPlannerROS/controller_frequency: 10.0
• /move_base/DWAPlannerROS/forward_point_distance: 0.325
• /move_base/DWAPlannerROS/goal_distance_bias: 20.0
• /move_base/DWAPlannerROS/latch_xy_goal_tolerance: False
• /move_base/DWAPlannerROS/max_scaling_factor: 0.2
• /move_base/DWAPlannerROS/max_vel_theta: 2.75
• /move_base/DWAPlannerROS/max_vel_trans: 0.22
• /move_base/DWAPlannerROS/max_vel_x: 0.22
• /move_base/DWAPlannerROS/max_vel_y: 0.0
• /move_base/DWAPlannerROS/min_vel_theta: 1.37
• /move_base/DWAPlannerROS/min_vel_trans: 0.11
• /move_base/DWAPlannerROS/min_vel_x: -0.22
• /move_base/DWAPlannerROS/min_vel_y: 0.0
• /move_base/DWAPlannerROS/occdist_scale: 0.02
• /move_base/DWAPlannerROS/oscillation_reset_dist: 0.05
• /move_base/DWAPlannerROS/path_distance_bias: 32.0
• /move_base/DWAPlannerROS/publish_cost_grid_pc: True
• /move_base/DWAPlannerROS/publish_traj_pc: True
• /move_base/DWAPlannerROS/scaling_speed: 0.25
• /move_base/DWAPlannerROS/sim_time: 1.5
• /move_base/DWAPlannerROS/stop_time_buffer: 0.2
• /move_base/DWAPlannerROS/vth_samples: 40
• /move_base/DWAPlannerROS/vx_samples: 20
• /move_base/DWAPlannerROS/vy_samples: 0
• /move_base/DWAPlannerROS/xy_goal_tolerance: 0.05
• /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.17
• /move_base/GlobalPlanner/allow_unknown: True
• /move_base/GlobalPlanner/cost_factor: 3.0
• /move_base/GlobalPlanner/default_tolerance: 0.0
• /move_base/GlobalPlanner/lethal_cost: 253
• /move_base/GlobalPlanner/neutral_cost: 50
• /move_base/GlobalPlanner/old_navfn_behavior: False
• /move_base/GlobalPlanner/planner_costmap_publish_frequency: 0.0
• /move_base/GlobalPlanner/planner_window_x: 0.0
• /move_base/GlobalPlanner/planner_window_y: 0.0
• /move_base/GlobalPlanner/publish_potential: True
• /move_base/GlobalPlanner/publish_scale: 100
• /move_base/GlobalPlanner/use_dijkstra: True
• /move_base/GlobalPlanner/use_grid_path: False
• /move_base/GlobalPlanner/use_quadratic: True
• /move_base/NavfnROS/allow_unknown: False
• /move_base/NavfnROS/default_tolerance: 0.0
• /move_base/NavfnROS/planner_window_x: 0.0
• /move_base/NavfnROS/planner_window_y: 0.0
• /move_base/NavfnROS/visualize_potential: False
• /move_base/base_global_planner: srv_client_plugin...
• /move_base/base_local_planner: dwa_local_planner...
• /move_base/controller_frequency: 5.0
• /move_base/controller_patience: 3.0
• /move_base/global_costmap/cost_scaling_factor: 3.0
• /move_base/global_costmap/footprint: [[-0.105, -0.105]...
• /move_base/global_costmap/global_frame: map
• /move_base/global_costmap/inflation_radius: 1.0
• /move_base/global_costmap/map_type: costmap
• /move_base/global_costmap/observation_sources: scan
• /move_base/global_costmap/obstacle_range: 3.0
• /move_base/global_costmap/plugins: [{'name': 'static...
• /move_base/global_costmap/publish_frequency: 0.2
• /move_base/global_costmap/raytrace_range: 3.5
• /move_base/global_costmap/robot_base_frame: base_footprint
• /move_base/global_costmap/scan/clearing: True
• /move_base/global_costmap/scan/data_type: LaserScan
• /move_base/global_costmap/scan/marking: True
• /move_base/global_costmap/scan/sensor_frame: base_scan
• /move_base/global_costmap/scan/topic: scan
• /move_base/global_costmap/transform_tolerance: 0.5
• /move_base/global_costmap/update_frequency: 0.2
• /move_base/local_costmap/cost_scaling_factor: 3.0
• /move_base/local_costmap/footprint: [[-0.105, -0.105]...
• /move_base/local_costmap/global_frame: odom
• /move_base/local_costmap/height: 3
• /move_base/local_costmap/inflation_radius: 1.0
• /move_base/local_costmap/map_type: costmap
• /move_base/local_costmap/observation_sources: scan
• /move_base/local_costmap/obstacle_range: 3.0
• /move_base/local_costmap/publish_frequency: 10.0
• /move_base/local_costmap/raytrace_range: 3.5
• /move_base/local_costmap/resolution: 0.05
• /move_base/local_costmap/robot_base_frame: base_footprint
• /move_base/local_costmap/rolling_window: True
• /move_base/local_costmap/scan/clearing: True
• /move_base/local_costmap/scan/data_type: LaserScan
• /move_base/local_costmap/scan/marking: True
• /move_base/local_costmap/scan/sensor_frame: base_scan
• /move_base/local_costmap/scan/topic: scan
• /move_base/local_costmap/static_map: False
• /move_base/local_costmap/transform_tolerance: 0.5
• /move_base/local_costmap/update_frequency: 10.0
• /move_base/local_costmap/width: 3
• /move_base/max_planning_retries: 0
• /move_base/oscillation_distance: 0.2
• /move_base/oscillation_timeout: 0.0
• /move_base/planner_frequency: 0.0
• /move_base/planner_patience: 5.0
• /move_base/recovery_behavior_enabled: False
• /move_base/shutdown_costmaps: False
• /rosdistro: noetic
• /rosversion: 1.15.13

NODES
/
global_path_planner (global_path_planning/path_planning_server.py)
map_server (map_server/map_server)
move_base (move_base/move_base)
odom_wrt_map_tf (tf2_ros/static_transform_publisher)
rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[rviz-1]: started with pid [43713]
process[map_server-2]: started with pid [43714]
process[odom_wrt_map_tf-3]: started with pid [43715]
process[move_base-4]: started with pid [43716]
process[global_path_planner-5]: started with pid [43717]
[ WARN] [1651008885.561074637, 789.513000000]: global_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [1651008885.589432148, 789.539000000]: global_costmap: Using plugin "static_layer"
[ INFO] [1651008885.703207606, 789.641000000]: Requesting the map...
[ INFO] [1651008885.922012140, 789.847000000]: Resizing costmap to 384 X 384 at 0.050000 m/pix
[ INFO] [1651008886.026176789, 789.946000000]: Received a 384 X 384 map at 0.050000 m/pix
[ INFO] [1651008886.034710372, 789.953000000]: global_costmap: Using plugin "inflation_layer"
Warning: QT_DEVICE_PIXEL_RATIO is deprecated. Instead use:
QT_AUTO_SCREEN_SCALE_FACTOR to enable platform plugin controlled per-screen factors.
QT_SCREEN_SCALE_FACTORS to set per-screen factors.
QT_SCALE_FACTOR to set the application global scale factor.
[ WARN] [1651008886.195633646, 790.089000000]: local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided
[ WARN] [1651008886.197160597, 790.091000000]: local_costmap: Pre-Hydro parameter "map_type" unused since "plugins" is provided
[ INFO] [1651008886.199152690, 790.093000000]: local_costmap: Using plugin "obstacle_layer"
[ INFO] [1651008886.207169703, 790.094000000]: Subscribed to Topics:
[ INFO] [1651008886.261292123, 790.150000000]: local_costmap: Using plugin "inflation_layer"
[ INFO] [1651008886.420122686, 790.299000000]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1651008886.431473374, 790.309000000]: Sim period is set to 0.10
[ INFO] [1651008891.872701214, 795.220000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1651008891.904560795, 795.243000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1651008892.055882951, 795.372000000]: odom received!