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Hello everybody! My OS: Ubuntu 10.04
My TF configure: /map -> /odom -> /base_link -> /base_scan.
While the TF seems not problem, there is still an fatal error at RVIZ. RVIZ show an error about laser scan: unknown reason for transform failure. I'm confuse, so I need your help. I'm appreciate for any hints.
How are you publishing the /scan topic?
It has to have the frame_id /base_scan set. Also it should have a current timestamp (i.e. corresponding to those in the rviz machine), this might be a problem with multiple computers.
Do you see a scan, if you set the fixed_frame in rviz to the frame_id of the scan?
I had the same problem; no laser data is shown in rviz unless the laser's frame is set as the fixed frame.
I found a thread on the ros-users list that suggested it had to do with the time_increment field being too large. I noticed there is an error in the LMS1xx package I'm using as a driver for the laser. The fields time_increment and scan_time are ten times as high as they are supposed to be.
I think this was the cause of the error message. What's annoying is that it took 20-30 minutes after I fixed this for it to actually start working. I don't know why it didn't start working immediately. It's possible I restarted rviz at that stage, or managed to reset its laser module. I sure didn't change anything else, at least.
Here's the list thread I mentioned: http://comments.gmane.org/gmane.science.robotics.ros.user/5192
Setting the time_increment to zero solved my problem.
For other people trying to make YDLIDAR work -- there's a bug in their ROS package which results in the same issue, and an open PR for it -- https://github.com/EAIBOT/ydlidar/pul....
I'm not an expert about TF, but did you tried to synchronize the three nodes for publishing at the same frequency? As you can see, the TF /base_link to /base_scan is -0.025 seconds old, maybe the problem is here.
Asked: 2011-06-16 20:05:45 -0500
Seen: 5,003 times
Last updated: Sep 20 '11
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