Hi I am doing Navigation stack on pepper robot. while doing navigation stack I came across multiple warnings and errors. I rectified few warnings but facing other warnings too. I have searched on Google and other sources but unable to rectify the warning messages. I am using rtabmap package for mapping and also for localization on ubuntu 16.04(ros-kinetic). here are the warnings that I got. enter image description here and also I have uploaded the all my files in this link with full console error/warning messages.

[ WARN] [1708724408.189645929]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.100216 timeout was 0.1.

[ WARN] (2024-02-23 22:40:09.298) Rtabmap.cpp:1257::process() Update map correction based on last localization saved in database! correction = xyz=3.720840,0.521860,0.000000 rpy=0.000000,-0.000000,-3.031832, nearest id = 1 of last pose = xyz=0.113425,0.062532,0.000001 rpy=0.001205,-0.000309,1.452687, odom = xyz=3.636022,0.061406,-0.000000 rpy=-0.000000,0.000023,-1.798667

[ WARN] [1708724409.699125214]: Could not get transform from odom to base_link after 0,200000 seconds (for stamp=1708724409,292516)! Error="Lookup would require extrapolation into the past. Requested time 1708724409.292516015 but the earliest data is at time 1708724409.479435925, when looking up transform from frame [base_link] to frame [odom]. canTransform returned after 0.200313 timeout was 0.2.".

[ERROR] [1708724409.699208497]: Could not convert laser scan msg! Aborting rtabmapviz update...

and full console output is here

  • $\begingroup$ Please paste any console output as code formatted text and not as a screenshot. Screenshots are not text searchable, amongst other things.... $\endgroup$ Commented Feb 24 at 20:07
  • $\begingroup$ My console output is very huge and unable to paste, as it is exceeding the word limit. But I already pasted my warning messages and error above. But here is the full console output. $\endgroup$
    – sai
    Commented Feb 24 at 20:27
  • $\begingroup$ What have you done to determine the cause of the laser scan error? by that I mean, have you confirmed the laser scan error is not the cuase of the warnings and then investigated? $\endgroup$
    – billy
    Commented Feb 25 at 21:38
  • $\begingroup$ I believe, the warnings are different and the error is different. $\endgroup$
    – sai
    Commented Feb 26 at 11:00


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