# ROS - stretch\_navigation error

**URL:** <https://forum.hello-robot.com/t/ros-stretch-navigation-error/123>\
**Category:** Ask\
**Created:** [March 11, 2021, 10:01pm UTC](https://forum.hello-robot.com/t/ros-stretch-navigation-error/123 "2021-03-11T22:01:14Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Flynn](https://avatars.discourse-cdn.com/v4/letter/f/e56c9b/32.png) [@Flynn](https://forum.hello-robot.com/u/Flynn)\
**Post date:** [March 11, 2021, 10:01pm UTC](https://forum.hello-robot.com/t/ros-stretch-navigation-error/123/1 "2021-03-11T22:01:14Z")

</div>

Terminal output below:

hello-robot@stretch-re1-1033:~$ roslaunch stretch\_navigation mapping.launch  
… logging to /home/hello-robot/.ros/log/e480837a-82b4-11eb-a9a6-94e6f7b75520/roslaunch-stretch-re1-1033-2009.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://stretch-re1-1033:44105/](http://stretch-re1-1033:44105/)

# SUMMARY

PARAMETERS

- /joint\_state\_publisher/rate: 15.0
- /joint\_state\_publisher/source\_list: [’/stretch/joint\_…
- /lidar\_node/angle\_compensate: True
- /lidar\_node/frame\_id: laser
- /lidar\_node/inverted: False
- /lidar\_node/scan\_mode: Boost
- /lidar\_node/serial\_baudrate: 115200
- /lidar\_node/serial\_port: /dev/hello-lrf
- /robot\_description: \<?xml version="1…
- /robot\_state\_publisher/publish\_frequency: 15.0
- /rosdistro: melodic
- /rosversion: 1.14.10
- /stretch\_driver/broadcast\_odom\_tf: True
- /stretch\_driver/controller\_calibration\_file: /home/hello-robot…
- /stretch\_driver/mode: navigation
- /stretch\_driver/rate: 25.0
- /stretch\_driver/timeout: 0.5
- /teleop\_twist\_keyboard/speed: 0.04
- /teleop\_twist\_keyboard/turn: 0.1

NODES  
/  
gmapping\_record\_map (gmapping/slam\_gmapping)  
joint\_state\_publisher (joint\_state\_publisher/joint\_state\_publisher)  
lidar\_node (rplidar\_ros/rplidarNode)  
robot\_state\_publisher (robot\_state\_publisher/robot\_state\_publisher)  
rviz (rviz/rviz)  
stretch\_driver (stretch\_core/stretch\_driver)  
teleop\_twist\_keyboard (teleop\_twist\_keyboard/teleop\_twist\_keyboard.py)

auto-starting new master  
process[master]: started with pid [2020]  
ROS\_MASTER\_URI=http://localhost:11311

setting /run\_id to e480837a-82b4-11eb-a9a6-94e6f7b75520  
process[rosout-1]: started with pid [2031]  
started core service [/rosout]  
process[joint\_state\_publisher-2]: started with pid [2034]  
process[robot\_state\_publisher-3]: started with pid [2035]  
process[stretch\_driver-4]: started with pid [2036]  
process[lidar\_node-5]: started with pid [2037]  
process[teleop\_twist\_keyboard-6]: started with pid [2038]  
[INFO] [1615499901.129640823]: RPLIDAR running on ROS package rplidar\_ros. SDK Version:1.7.0  
process[rviz-7]: started with pid [2048]  
process[gmapping\_record\_map-8]: started with pid [2049]  
[WARN] [1615499901.171188853]: The root link base\_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.  
[INFO] [1615499902.283923]: For use with S T R E T C H ™ RESEARCH EDITION from Hello Robot Inc.  
[INFO] [1615499902.285133]: /stretch\_driver started  
[INFO] [1615499902.286985]: mode = navigation  
[INFO] [1615499902.288740]: broadcast\_odom\_tf = True  
[INFO] [1615499902.292248]: Loading controller calibration parameters for the head from YAML file named /home/hello-robot/catkin\_ws/src/stretch\_ros/stretch\_core/config/controller\_calibration\_head.yaml  
[INFO] [1615499902.294569]: controller parameters loaded = {‘tilt\_looking\_up\_offset’: -0.007991362557756053, ‘arm\_retracted\_offset’: 0.003431998628653808, ‘tilt\_angle\_backlash\_transition’: -0.4, ‘tilt\_angle\_offset’: -0.11863479457900214, ‘pan\_angle\_offset’: 0.03578660451542777, ‘pan\_looked\_left\_offset’: -0.0017655938546597139}  
[INFO] [1615499902.295457]: self.head\_tilt\_calibrated\_offset\_rad in degrees = -6.79727303278  
[INFO] [1615499902.296295]: self.head\_pan\_calibrated\_offset\_rad in degrees = 2.05042140184  
[INFO] [1615499902.297425]: self.head\_pan\_calibrated\_looked\_left\_offset\_rad in degrees = -0.101161076206  
[INFO] [1615499902.298589]: self.head\_tilt\_backlash\_transition\_angle\_rad in degrees = -22.9183118052  
[INFO] [1615499902.299479]: self.head\_tilt\_calibrated\_looking\_up\_offset\_rad in degrees = -0.457871347118  
[INFO] [1615499902.300295]: self.wrist\_extension\_calibrated\_retracted\_offset\_m in meters = 0.00343199862865  
[INFO] [1615499902.305675]: /stretch\_driver rate = 25.0 Hz  
[INFO] [1615499902.306746]: /stretch\_driver timeout = 0.5 s  
[INFO] [1615499902.308142]: /stretch\_driver use\_fake\_mechaduinos = False  
[INFO] [1615499902.308987]: /stretch\_driver base\_frame\_id = base\_link  
[INFO] [1615499902.309884]: /stretch\_driver odom\_frame\_id = odom

## Reading from the keyboard and Publishing to Twist!

Moving around:  
u i o  
j k l  
m , .

## For Holonomic mode (strafing), hold down the shift key:

U I O  
J K L  
M \< \>

t : up (+z)  
b : down (-z)

anything else : stop

q/z : increase/decrease max speeds by 10%  
w/x : increase/decrease only linear speed by 10%  
e/c : increase/decrease only angular speed by 10%

CTRL-C to quit

currently: speed 0.04 turn 0.1  
[ERROR] [1615499902.637397]: /stretch\_driver action server must be in navigation mode to receive a twist on cmd\_vel. Current mode = None.  
2021-03-11 13:58:23,286 - stretch-re1-1033 - robot - INFO - Starting up Robot  
RPLIDAR S/N: 808B9A87C5E392D2A5E492F8105E316C  
[INFO] [1615499903.636784286]: Firmware Ver: 1.25  
[INFO] [1615499903.636804406]: Hardware Rev: 5  
[INFO] [1615499903.638183417]: RPLidar health status : 0  
2021-03-11 13:58:23,722 - stretch-re1-1033 - robot.base - INFO - Fast motion turned off  
[INFO] [1615499904.238055500]: current scan mode: Boost, max\_distance: 12.0 m, Point number: 8.0K , angle\_compensate: 2  
[WARN] [1615499916.220220273]: MessageFilter [target=odom]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message\_filter] rosconsole logger to DEBUG for more information.

---

<div class="post-metadata">

**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\
**Post date:** [March 12, 2021, 5:03am UTC](https://forum.hello-robot.com/t/ros-stretch-navigation-error/123/2 "2021-03-12T05:03:05Z")

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Hello @Flynn, could you perform a git pull and try again. The steps are:

```auto
roscd stretch_core
git pull
roslaunch stretch_navigation mapping.launch

```