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I would like to suggest two ways.

First, it is said that no one is listening to the publish topic of lidar_euclidean_cluster_detect, but check if the topic is subscribed correctly in the source code of lidar_kf_contour_track. I changed the topic of sub_cloud_clusters to /detection/lidar_detector/cloud_clusters in the lidar_kf_contour_track source code.

Second, when looking at the rviz screen that is currently running, it seems that the map frame and the world frame are not combined. So make sure the overall tf is aligned. When you run rviz with the world frame, all maps, vehicles, and obstacles must appear to ensure that tf is properly aligned.

I've had the same error as yours. If you check the above two things, you will be able to solve it quickly!