rqt

https://www.jianshu.com/p/1aad07776c84
https://blog.csdn.net/shuipengpeng/article/details/80738062
https://github.com/srikanthmalla/navigation_multi
https://github.com/RANHAOHR/SWARM_CONTROL/tree/master/multi_navigation
https://github.com/francimala/ROS_multiple_navigation
https://github.com/ahensley3/Multi-Robot-Navigation-System（system.h)
https://github.com/Hongyi-Zhou/Multi-Robots-Navigation-in-Stage-Ros（stageros.cpp无法启动）
https://github.com/srujanpanuganti/enpm661_project5(缺一个包）

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tb3
https://blog.csdn.net/sinat_38284212/article/details/102552239
https://www.jianshu.com/p/014552bcc04c

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gazebo error
https://blog.csdn.net/qq_39989653/article/details/78472097 (非常好！！！）

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turtlebot3 navigation仿真
https://blog.csdn.net/ktigerhero3/article/details/80722381 （有效）

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turtlebot3 跟随
https://blog.csdn.net/kdongyi/article/details/103070329?depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromBaidu-2&utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromBaidu-2 （未测试）

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timeout waiting for transform from base_footprint to map to become available before running costmap
tf error: canTransform: target_frame tb3_0/map does not exist. canTransform: source_frame tb3_0/tb3_0/base_footprint does not exist… canTransform returned after 0.1 timeout was 0.1.

(tf树从odom到base_footprint断开了)
https://blog.csdn.net/qq_41906592/article/details/89327900?depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1&utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1

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solution

1. This error comes up when the navigation stack could not find a map. Please check your map_name.yaml is looking at the right map_name.pgm file (correct .pgm file path in the .yaml file).
2. edit the file yaml of map
3. I have found solution for my problem. “” and “” were missing in my xacro file.
   4.The issue was one child parenting two frames.here /base_link has already got /base_footprint link as a parent and also in odom program the /odom was trying to be a parent of /base_link which i changed to /base_footprint
   5.The above issue was also solved after changing a map with size and resolution from 4000 X 4000 (at 0.0500) to 200 X 200 (at 0.1)
   That means it works seamlessly in my case with small maps but larger map slows down and finally hangs the system.
   6.I routinely run with a map of size 4000x4000 pixels on an i7 920 with 6gb of RAM. I do have to set the publish_frequency to 0 and the update_frequency to 1 in order to avoid loop rate warnings for the global costmap. I’ve never actually seen the large costmap hang the system, just generate a lot of warnings.

Try setting the publish_frequency to 0 for the global costmap on a larger map.
7.I have changed the update rate from 5.0 to 8.0. 另一个人Changing the update_frequency from 5.0Hz to 8.0Hz actually makes the map update more frequently so I’m not sure why this resolved anything for you.
8.2Publishing visualization information from very large maps can slow the system down. As Eric suggested, setting publish_frequency to 0 for the global_costmap should help things.
9.On that particular point, older versions of amcl had a very
inefficient procedure for pre-computing the likelihood field model for
the laser. It could take tens of seconds to run on large maps. What
version of navigation are you using
10.unknown space
11.Here, I saw weired behavior, like, this time i again changed update_frequency to 1 and publish_frequency to 0 which worked absolutely fine.
12。yes, its taking some time to load AMCL and MAP all together but after that it works smoothly.
13.Both the global and local costmaps will have access to this information and it should, assuming the robot is well localized, keep the robot away from dangerous areas.
14.Is the time on both the PCs synchronised? It’s possible that the time is different across both your machines. In which case, you can set up an NTP server on one of them to synchronise time.
Use the following commands to debug
rosrun tf view_frames

rosrun tf tf_echo /map /base_footprint
15.my simulator was publishing laser scan on lms200 topic instead of /scan , i remapped the the publishing from lms200 to /scan and that worked form me… if your laser data is being published on /scan topic then you might look on time on both the PCs, the should be synchronize
16.Based on my experience, the cause of this issue generally came from “scan” topic.
Could you please check if the scan topic is published or not?
$ rostopic hz /scan
17.查看了一下 rosrun tf view_frame map跟odom沒有被amcl發出
18.I worked with some colleagues to a university project that was aimed at simulating the navigation of multiple turtlebot3 on a single machine and (afterward) across three different PC. During the development of this project we faced the following problem: [ WARN] [1413488778.937642524]: Waiting on transform from /base_footprint to /map to become available before running costmap, tf error: canTransform: target_frame map does not exist… canTransform returned after 203.264 timeout was 0.1 Apparently, on the other ROSanswer questions there was no explicit solution, hence I would like to share what worked for us. The main problem was that the tf_tree was not connecting the odom frame of each robot to the map frame, they were like two separate and uncorrelated branches. The solution was to remap 3 parameters inside two param files, that were by default set outside the namespace of the two robots. The above mentioned files are in the folder turtlebo3_navigation/param and are: - local_costmap_params.yaml - global_costmap_params.yaml Inside the first one: - global_fram: odom - robot_base_frame: base_footprint Inside the second one: - robot_base_frame: base_footprint To not change such param files, we decided to create new amcl and move_base launch files (one for each robot) with the following modifications (only the modification are reported): [In our case the namespaces were tb3_0 for the first robot, and tb3_1 for the second robot.] amcl_tb3_0.launch amcl_tb3_1.launch move_base_tb3_0.launch move_base_tb3_1.launch Definitely, this is not the best solution, but it worked for our purposes. If you have to do a similar project, check our documentation, maybe you can find some hints, since we have explained step by step what we did. https://github.com/francimala/ROS_multiple_navigation I’m using ROS melodic and the Turtlebot3 packages.
http://question2295.rssing.com/browser.php?indx=37603615&last=1&item=5
19.可能是数据、tf发布不稳定，或者延时较大,主机与机器人时间不一致,可上网搜时间同步问题即可解决,可能是激光雷达的数据或坐标系更新慢,rviz只是一个显示的工具，建议第一步查看小车的里程计数据是否有问题（里程计需要校准），然后再查看tf变换是否有问题。在rviz中的显示也需要选择正确的坐标系。
20.https://answers.ros.org/question/193469/tf-tree-is-invalide-because-it-contains-a-loop/ 可能对
21.https://surfertas.github.io/gazebo/turtlebot/2017/04/27/rviz-gazebo.html 可能有效
22.https://answers.ros.org/question/227728/multiple-robots-simulation-in-stage-with-amcl-navigation/
23.https://github.com/gergia/multiple_turtlebots_stage_amcl新的项目（这个人说解决了）附问题：https://answers.ros.org/question/227728/multiple-robots-simulation-in-stage-with-amcl-navigation/
在他github里面给Move_base/goal发消息值得借鉴
24.https://www.cnblogs.com/Charlene-HRI/p/8677130.html 可能有效（好像很懂）
https://blog.csdn.net/crazyquhezheng/article/details/43346907写的不错的博客
25.如果是编码问题的话加这个 sudo apt-get install unicode
26.完整查看tf的所有关系以及各种用法
27.https://www.codetd.com/article/4971845
Resolved: 关键词 ：base_footprint , 在local和global costmap 配置文件中都有配置， 一般情况改为base_link即可 （robot_base_frame: base_link）
还要注意检查 base_link / robot1/base_link 到odom的tf有没有建立起来. odom -> base_link 一般都是硬件驱动(arduino)程序提供的tf转换
28.导航包比较详细的解读https://gaoyichao.com/Xiaotu/?book=turtlebot&title=costmap_2d
29.https://community.husarion.com/t/failing-with-transform-between-map-and-base-link/687/2
30.tf树从odom到base_footprint断开了
31.https://blog.csdn.net/ZhangRelay/article/details/62037458
32.https://github.com/ros-planning/navigation/issues/884