no laser scan received after starting amcl [closed]
I've built a map using gmapping and I would like to localize my pr2 in that map. I do the following:
roscore
roslaunch pr2_gazebo world1.launch
rosrun map_server map_server map.yaml
Then to run amcl I do:
rosrun amcl amcl scan:=base_scan _odom_frame:=odom_combined use_map_topic:=true
After that I get:
No laser scan received
Verify that data is being published on the /base_scan topic.
When I visualize laser data in rviz using fixed frame: base_laser_link and target frame: odom_combined, I am able to see laser data on the base_scan topic.
A subset of my tf tree looks like this:
/odom_combined
|
/base_footprint
|
/base_link
/
/base_laser_link
I don't understand, why is it saying that no laser scan is received?
Is it because there is no map frame attached to odom_combined? But I thought amcl is supposed to publish the transform: map -> odom
Here is output from rxconsole:
Node: /amcl
Time: 83.407000000
Severity: Warn
Location: /tmp/buildd/ros-fuerte-navigation-1.8.3/debian/ros-fuerte-navigation/opt/ros/fuerte/stacks/navigation/amcl/src/amcl_node.cpp:checkLaserReceived:540
Published Topics: /rosout, /tf, /amcl_pose, /particlecloud, /amcl/parameter_descriptions, /amcl/parameter_updates
No laser scan received (and thus no pose updates have been published) for 83.407000 seconds. Verify that data is being published on the /base_scan topic.
Could you solve it? I have the same problem on Groovy