Problems with laser scan
I'm running hokuyo node and move_base on my robot, and found 2 issues in the operation:
(1) Obstacles seen when there are none around: Laser scan showed a long line comprising an obstacle when there was clearly none.
(2) Despite seeing obstacles close by, move_base collides with them. I'm sending scans in the /odom reference frame and using an identity transform for localization. I'm guessing this is an issue with robot base footprint?
Comments
regarding the second part of your question: do you have the navigations stack up and running or are you sending commands directly to your move base?
Bram van de Klundert
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2011-08-11 21:12:32 -0500
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Regarding 2) Do you mean that the frame_id of your scans is /odom? That would be an issue.
dornhege
(
2011-08-12 02:09:00 -0500
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Should it be base_link?
PKG
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2011-08-12 08:08:08 -0500
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It should be the link of the laser and you should have tf setup so that there is a transformation base_link->my_laser_link that is the laser's position on the robot.
dornhege
(
2011-08-12 08:39:09 -0500
)editadd a comment
