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Getting Error while mapping with rplidar

image descriptionI am currently using ROS2 Humble and RP Lidar. I want to use SLAM with this so I am trying the Slam toolbox. So first I am doing: ros2 launch rplidar_ros rplidar.launch.py

Then in another terminal, I am doing: ros2 launch slamtoolGetbox onlineasync_launch.py

I don't have any urdf file, I just want to do static slam in RP lidar. I am getting the error:[asyncslamtoolboxnode-1] [INFO] [1679982623.449307761] [slamtoolbox]: Message Filter dropping message: frame 'laser' at time 1679982623.312 for reason 'discarding message because the queue is full'

Please help me or guide to do SLAM. My rqt graph is also attached for more informationRQT GraphOutput

I am expecting to do slam or its related projects in which we do mapping using lidar and SLAM

Asked by Bhavesh Patidar on 2023-03-29 01:51:17 UTC

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Hello, I was also facing a similar problem. Then I decided to use turtlebot 4 package SLAM and I am giving you the commands that helped me solve this problem. I hope this helps you: The first step was to Install the odometry package which isrf2o_laser_odometry The second step was to start the Lidar node using: ros2 launch rplidar_ros rplidar.launch.py The third step is to start odometry from ros2 workspace:ros2 launch rf2o_laser_odometry rf2o_laser_odometry.launch.py laser_scan_topic:=scan The fourth step is to do static transformation:

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link laser

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link odom

The fifth step was to start the SLAM algorithm:

ros2 launch turtlebot4_navigation slam.launch.py params:=/full/path/to/slam.yaml

The final step is to Bring up the robot:

ros2 launch turtlebot4_viz view_robot.launch.py

Asked by kathan on 2023-04-21 02:23:37 UTC

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