MockRobot Failed lookup: fiducial_10, from base_footprint

[sasieusp]

Hi,

i am able to run the turtelbot and getting docked without any error. but when i run the mockbot i am getting the below mentioned error eventhough the Markers are detected. Am i missing anything here?

INFO] [1680685721.064356, 44.498000]: Will attempt with 2 retry
[WARN] [1680685721.065865, 44.500000]: State: [PREDOCK] | start docking
[WARN] [1680685721.451993, 45.000000]: Failed lookup: fiducial_10, from base_footprint
[WARN] [1680685721.842108, 45.450000]: State: [PREDOCK] | Try single marker yaw adjustment
[WARN] [1680685722.068391, 45.952000]: Failed lookup: fiducial_10, from base_footprint
[WARN] [1680685722.470830, 46.452000]: Failed lookup: fiducial_11, from base_footprint
[ERROR] [1680685722.472098, 46.452000]: Not detecting two side markers, exit state
[WARN] [1680685722.472879, 46.452000]: Failed to Dock attempt
[WARN] [1680685722.473596, 46.452000]: Attemping retry: 1/2
[INFO] [1680685722.474667, 46.452000]: State is not retry-able
[WARN] [1680685722.475783, 46.452000]: Not able to retry
[WARN] [1680685722.477316, 46.452000]: State: [IDLE] | Failed execute Dock Action

[LKSeng]

When you run rosrun tf tf_echo fiducial_10 base_footprint, what do you see?

Random guess, for your case try to increase the tf_expiry param in autodock config, maybe the node can't get the tf because expiry is too stringent.