[ WARN] [1685802601.322683287]: Costmap2DROS transform timeout. Current time: 1685802601.3226, global_pose stamp: 1685802599.8069, tolerance: 1.5000 [ WARN] [1685802601.322731894]: Could not get robot pose, cancelling reconfiguration

这是一个 ROS 中的警告信息，意思是 costmap2dros 节点无法获取机器人当前的位置信息，因为转换超时了。这可能是由于机器人的位置信息与全局地图的位置信息之间的转换出现了问题，或者是由于机器人的位置信息发布不及时导致的。这个问题可能会导致机器人无法进行路径规划等任务，需要检查机器人的位置发布和全局地图之间的转换是否正常。

相关问题

给下列程序添加英文注释：bool MoveBase::getRobotPose(geometry_msgs::PoseStamped& global_pose, costmap_2d::Costmap2DROS* costmap) { tf2::toMsg(tf2::Transform::getIdentity(), global_pose.pose); geometry_msgs::PoseStamped robot_pose; tf2::toMsg(tf2::Transform::getIdentity(), robot_pose.pose); robot_pose.header.frame_id = robot_base_frame_; robot_pose.header.stamp = ros::Time(); // latest available ros::Time current_time = ros::Time::now(); // save time for checking tf delay later // get robot pose on the given costmap frame try { tf_.transform(robot_pose, global_pose, costmap->getGlobalFrameID()); } catch (tf2::LookupException& ex) { ROS_ERROR_THROTTLE(1.0, "No Transform available Error looking up robot pose: %s\n", ex.what()); return false; } catch (tf2::ConnectivityException& ex) { ROS_ERROR_THROTTLE(1.0, "Connectivity Error looking up robot pose: %s\n", ex.what()); return false; } catch (tf2::ExtrapolationException& ex) { ROS_ERROR_THROTTLE(1.0, "Extrapolation Error looking up robot pose: %s\n", ex.what()); return false; } // check if global_pose time stamp is within costmap transform tolerance if (current_time.toSec() - global_pose.header.stamp.toSec() > costmap->getTransformTolerance()) { ROS_WARN_THROTTLE(1.0, "Transform timeout for %s. " \ "Current time: %.4f, pose stamp: %.4f, tolerance: %.4f", costmap->getName().c_str(), current_time.toSec(), global_pose.header.stamp.toSec(), costmap->getTransformTolerance()); return false; } return true; }

// Function to get the robot pose in the given costmap frame
bool MoveBase::getRobotPose(geometry_msgs::PoseStamped& global_pose, costmap_2d::Costmap2DROS* costmap) {
// Set the global pose to the identity transform
tf2::toMsg(tf2::Transform::getIdentity(), global_pose.pose);
// Create a new pose for the robot and set it to the identity transform
geometry_msgs::PoseStamped robot_pose;
tf2::toMsg(tf2::Transform::getIdentity(), robot_pose.pose);
// Set the frame ID for the robot pose to the robot base frame
robot_pose.header.frame_id = robot_base_frame_;
// Set the time stamp for the robot pose to the latest available time
robot_pose.header.stamp = ros::Time(); // latest available
// Save the current time for checking the tf delay later
ros::Time current_time = ros::Time::now(); // save time for checking tf delay later

// Get the robot pose on the given costmap frame
try
{
tf_.transform(robot_pose, global_pose, costmap->getGlobalFrameID());
}
catch (tf2::LookupException& ex)
{
// If the transform lookup fails, print an error message and return false
ROS_ERROR_THROTTLE(1.0, "No Transform available Error looking up robot pose: %s\n", ex.what());
return false;
}
catch (tf2::ConnectivityException& ex)
{
// If there is a connectivity error, print an error message and return false
ROS_ERROR_THROTTLE(1.0, "Connectivity Error looking up robot pose: %s\n", ex.what());
return false;
}
catch (tf2::ExtrapolationException& ex)
{
// If there is an extrapolation error, print an error message and return false
ROS_ERROR_THROTTLE(1.0, "Extrapolation Error looking up robot pose: %s\n", ex.what());
return false;
}

// Check if the time stamp of the global pose is within the costmap transform tolerance
if (current_time.toSec() - global_pose.header.stamp.toSec() > costmap->getTransformTolerance())
{
// If the time stamp is outside the tolerance, print a warning and return false
ROS_WARN_THROTTLE(1.0, "Transform timeout for %s. " \
"Current time: %.4f, pose stamp: %.4f, tolerance: %.4f", costmap->getName().c_str(),
current_time.toSec(), global_pose.header.stamp.toSec(), costmap->getTransformTolerance());
return false;
}

// Return true if the robot pose was successfully retrieved
return true;
}

warn hdfs.datastreamer: datastreamer exception

"warn hdfs.datastreamer: datastreamer exception" 表示HDFS中的数据流处理程序发生异常。这可能是由于网络中断、磁盘故障或其他原因导致的。需要查看更详细的日志信息才能确定问题的原因和解决方法。建议检查HDFS集群的状态，确保所有节点都正常运行并且网络连接稳定。如果问题仍然存在，请查看更详细的日志信息以获取更多线索。