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Hi,

If I've understood things correctly the tf name 'base_laser' and the frame in the laser nodes scan messages, 'laser_link', should be identical. Otherwise AMCL won't know where the sensor's position. Though, if that was the problem I think you should have seen an error message... But better try it.

The message about the frame ID not being qualified can be ignored. It just means that if you have several robots, the system won't be able to tell apart their scans because the frame ID doesn't have a "/<robot name="">/" prefix.

About the TD_OLD_DATA, are you playing back data using rosbag? Have you run "rosparam set use_sim_time true" before starting any nodes? Do you use the --clock option when running "rosbag play"? Is the warning message repeated, or only displayed at the beginning?

Hi,

If I've understood things correctly the tf name 'base_laser' and the frame ID in the laser nodes scan messages, 'laser_link', should be identical. Otherwise AMCL won't know where the sensor's position. Though, if that was the problem I think you should have seen an error message... But better try it.

The message about the frame ID not being qualified can be ignored. It just means that if you have several robots, the system won't be able to tell apart their scans because the frame ID doesn't have a "/<robot name="">/" prefix.

About the TD_OLD_DATA, are you playing back data using rosbag? Have you run "rosparam set use_sim_time true" before starting any nodes? Do you use the --clock option when running "rosbag play"? Is the warning message repeated, or only displayed at the beginning?

Hi,

If I've understood things correctly the tf name 'base_laser' and the frame ID in the laser nodes scan messages, 'laser_link', should be identical. Otherwise AMCL won't know where what position the sensor's position. scan was recorded from. Though, if that was the problem I think you should have seen an error message... But better try fix it.

The message about the frame ID not being qualified can be ignored. It just means that if you have several robots, the system won't be able to tell apart their scans because the frame ID doesn't have a "/<robot name="">/" prefix.

About the TD_OLD_DATA, are you playing back data using rosbag? Have you run "rosparam set use_sim_time true" before starting any nodes? Do you use the --clock option when running "rosbag play"? Is the warning message repeated, or only displayed at the beginning?