1. Laser not found error
When using the navigation function package of ROS, it is found that the robot does not always correspond to the map position.
There is an error that the laser topic cannot be found.
[ WARN] [1673180313.860695432, 35.640000000]: No laser scan received (and thus no pose updates have
been published) for 35.639000 seconds. Verify that data is being published on the /scan topic.
After checking the code, I found that map_server needs to subscribe to /scantopic, and the name of the topic I wrote is /robot/laser/scan.
Change the name of /robot/laser/scan to /scan.
2. odom coordinate conversion error
After starting the navigation function package, it prompts a coordinate transformation error
Warning: Invalid argument "/odom" passed to canTransform argument target_frame in tf2 frame_ids
cannot start with a '/' like:
at line 134 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
The total "/" in the global and local cost maps needs to be deleted
. After deletion:
At this time, the navigation function package is running normally.
