Waiterbot failed to localize at leaving docking station

[hughie]

[ INFO] [1446720070.716765904]: Received a 544 X 704 map @ 0.050 m/pix

[ INFO] [1446720070.734273624]: Initializing likelihood field model; this can take some time on large maps...
[ INFO] [1446720070.821358000]: Done initializing likelihood field model.
[ INFO] [1446720071.044873357]: Stopping device RGB and Depth stream flush.
[ INFO] [1446720072.225893038]: Using plugin "static_layer"
[ INFO] [1446720072.320304285]: Requesting the map...
[INFO] [WallTime: 1446720078.474029] Gateway : sending flip request [uber10edd63dca944d919c9ff3c80dca5f4a][subscriber][/map][/young/move_base,http://192.168.0.22:60681/]
[ INFO] [1446720078.925396469]: Resizing costmap to 544 X 704 at 0.050000 m/pix
[ INFO] [1446720078.928269962]: Shutting down the map subscriber. first_map_only flag is on
[ INFO] [1446720079.025230140]: Received a 544 X 704 map at 0.050000 m/pix
[ INFO] [1446720079.033514505]: Using plugin "obstacle_layer"
[ INFO] [1446720079.038588627]:     Subscribed to Topics: ir_scan scan bump
[ INFO] [1446720079.151125290]: Using plugin "inflation_layer"
[ INFO] [1446720079.403475341]: Using plugin "obstacle_layer"
[ INFO] [1446720079.487735940]:     Subscribed to Topics: ir_scan scan bump
[ INFO] [1446720079.590547181]: Using plugin "inflation_layer"
[ INFO] [1446720079.750054925]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1446720079.755874035]: Sim period is set to 0.20
[ INFO] [1446720080.132813888]: Recovery behavior will clear layer obstacles
[ INFO] [1446720080.223887420]: Recovery behavior will clear layer obstacles
[ INFO] [1446720080.318215716]: Recovery behavior will clear layer obstacles
[ INFO] [1446720080.396860864]: odom received!
[ INFO] [1446720080.590879325]: /young/semantic_navigator : Wait for waypoint lists
[ INFO] [1446720080.590984855]: /young/docking_interactor : Initialised
[INFO] [WallTime: 1446720088.812515] Gateway : sending flip request [uber10edd63dca944d919c9ff3c80dca5f4a][subscriber][/annotation/tables][/young/semantic_navigator,http://192.168.0.22:37815/]
[INFO] [WallTime: 1446720088.826813] Gateway : sending unflip request [uber10edd63dca944d919c9ff3c80dca5f4a][subscriber][/map][/young/move_base,http://192.168.0.22:60681/]
[ INFO] [1446720090.102546882]: /young/semantic_navigator : Initialized
[INFO] [WallTime: 1446720090.343299] Robot State Manager : Wait for Docking Interactor Server to be up
[INFO] [WallTime: 1446720090.624488] Robot State Manager : Initialized
Simple mixer control 'PCM',0
  Capabilities: pvolume
  Playback channels: Front Left - Front Right
  Limits: Playback 0 - 255
  Mono:
  Front Left: Playback 204 [80%] [-10.20dB]
  Front Right: Playback 204 [80%] [-10.20dB]
Simple mixer control 'Master',0
  Capabilities: pvolume pswitch
  Playback channels: Front Left - Front Right
  Limits: Playback 0 - 87
  Mono:
  Front Left: Playback 70 [80%] [-12.75dB] [on]
  Front Right: Playback 70 [80%] [-12.75dB] [on]
Playing WAVE '/home/yujin/ros/waiterbot/src/kobuki-x/waiterbot_bringup/resources/sound_2015/init.wav' : Signed 16 bit Little Endian, Rate 44100 Hz, Stereo
[INFO] [WallTime: 1446720098.994888] Gateway : sending flip request [uber10edd63dca944d919c9ff3c80dca5f4a][action_server][/delivery_order_d68d02e599af4bcd8325a2f023748b3b][/young/office_waiterbot_state_manager,http://192.168.0.22:50750/]
[INFO] [WallTime: 1446720102.007281] Robot State Manager : Received Goal
[INFO] [WallTime: 1446720102.008078] Robot State Manager : order_id: 820c1856-459e-432d-9784-db47e44180a5
locations: ['conf_room']
menus: ['Juice:1,']
[INFO] [WallTime: 1446720102.008487] Robot State Manager : Here
[INFO] [WallTime: 1446720102.008974] Robot State Manager : Order received = True
[INFO] [WallTime: 1446720102.015728] Robot State Manager : state in dock received order
Simple mixer control 'PCM',0
  Capabilities: pvolume
  Playback channels: Front Left - Front Right
  Limits: Playback 0 - 255
  Mono:
  Front Left: Playback 204 [80%] [-10.20dB]
  Front Right: Playback 204 [80%] [-10.20dB]
Simple mixer control 'Master',0
  Capabilities: pvolume pswitch
  Playback channels: Front Left - Front Right
  Limits: Playback 0 - 87
  Mono:
  Front Left: Playback 70 [80%] [-12.75dB] [on]
  Front Right: Playback 70 [80%] [-12.75dB] [on]
Playing WAVE '/home/yujin/ros/waiterbot/src/kobuki-x/waiterbot_bringup/resources/sound_2015/order_received.wav' : Signed 16 bit Little Endian, Rate 44100 Hz, Stereo
[INFO] [WallTime: 1446720105.348894] Robot State Manager : Wake up!
[ INFO] [1446720105.422487176]: /young/docking_interactor : Waking up! Slowly moving back...
[ INFO] [1446720105.441156785]: AR tracker reconfigured: ENABLED 4.00 6.90 0.08 0.20
[ INFO] [1446720112.153286653]: /young/docking_interactor : 6 has been registered as Docking marker
[ INFO] [1446720112.191422323]: AR tracker reconfigured: DISABLED 4.00 6.90 0.08 0.20
[INFO] [WallTime: 1446720112.199431] Robot State Manager : Docking Interactor result : True, Message : Wake up!
[INFO] [WallTime: 1446720112.348728] Robot State Manager : Localisation Request sent
[INFO] [WallTime: 1446720112.349521] Localization Manager : Received Localize goal command: 10
distortion: 0.0
[INFO] [WallTime: 1446720112.350273] Localization Manager : Stand and Localization started.
[ INFO] [1446720112.435013328]: AR tracker reconfigured: ENABLED 4.00 6.90 0.08 0.20
[ WARN] [1446720112.700060979]: Kobuki : Incoming velocity commands not received for more than 0.60 seconds -> zero'ing velocity commands
[ INFO] [1446720122.683588606]: AR tracker reconfigured: DISABLED 4.00 6.90 0.08 0.20
[WARN] [WallTime: 1446720122.696648] Localization Manager : couldn't localize in time 10.000011921
[INFO] [WallTime: 1446720122.698185] Robot State Manager : Localize result : False, Message : couldn't localize in time 10.000011921
[INFO] [WallTime: 1446720122.748519] Robot State Manager : failed to localise it self. Going back to dock
[INFO] [WallTime: 1446720122.749364] Robot State Manager : Calling auto dock!
[ INFO] [1446720122.823760892]: [/young/dock_drive] New goal received and accepted.