Hi,

Hello, (Im running ROS-Kinetic, Ubuntu 16.04 - with a laserscan and an ultrasonic sensor)

I am having an issue with my costmap configuration, The rangesensorlayer firstly appears to be marking in the local costmap, and secondly, marks in the map but does not get cleared. I have limited the ultrasonic sensor to 2.0m as it just provides a range for distances.

As you can see in my configurations below, the clearonmax_reading is set to true,

1. It sets a permanent marking at this range of 2.0m and this doesnt clear from the map. Also, i put obstacles in front of the ultrasonic sensor, but this doesnt get cleared once the obstacle is removed. see the picture image attached

2. It also throws this error.

   Range sensor layer can't transform from odom to /ultrasound at 1589825801.669056

How do i fix this?

Update: Map clears now, but it still throws this error Range sensor layer can't transform from odom to /ultrasound at 1589825801.669056

How do i solve this please???

I am using an Arduino Uno at baud rate 57600 for the odom (encoders) and an Arduino Mega at baud rate at 9600 for the Ultrasonic sensors. Can this be the issue?

Ultrasonic Code

#include <SoftwareSerial.h>
#include <ros.h>
#include <ros/time.h>
#include <sensor_msgs/Range.h>
#include <NewPing.h>


ros::NodeHandle  nh;
sensor_msgs::Range range_msg;
ros::Publisher pub_range ( "/ultrasound3", &range_msg);



float sensoReading = 0;
#define TRIGGER_PIN_2 32
#define ECHO_PIN_2 33

#define MAX_DISTANCE 200


// NewPing setup of pins and maximum distance
 NewPing sonar(TRIGGER_PIN_2, ECHO_PIN_2, MAX_DISTANCE); 


char frameid[] ="/ultrasound";

void setup() 
{
   Serial.begin(9600);
   nh.getHardware()->setBaud(9600);
   nh.initNode(); 
   nh.advertise(pub_range);

   range_msg.radiation_type = sensor_msgs::Range::ULTRASOUND;
   range_msg.header.frame_id =  frameid;
   range_msg.field_of_view = 1.0; 
   range_msg.min_range = 0.0;
   range_msg.max_range = 2.0;
}

long range_time;

void loop() {
   float distance = sonar.ping_cm();
   distance = distance/100;
   Serial.print(distance);
   Serial.print("m   ");   

   if ( (millis() - range_time )>50){
    range_msg.range = distance;
    range_msg.header.stamp = nh.now();
    pub_range.publish(&range_msg);
    range_time = millis();
   }

   nh.spinOnce();
}