amcl needs scan [closed]

asked 2013-12-28 02:48:17 -0600

maysamsh gravatar image

updated 2013-12-30 11:26:50 -0600

tfoote gravatar image

These topics are publishing:

/amcl/parameter_descriptions
/amcl/parameter_updates
/amcl_pose
/clock
/cmd_vel
/initialpose
/map
/map_metadata
/move_base_simple/goal
/odom
/particlecloud
/robot_pose_ekf/odom_combined
/rosout
/rosout_agg
/scan
/tf

I run this:

rosrun amcl amcl scan:=scan use_map_topic:=true

But I face this warning:

No laser scan received (and thus no pose updates have been published) for 1388229263.472677 seconds.  Verify that data is being published on the /scan topic.

And roswtf output is:

Found 8 error(s).

ERROR Communication with [/amcl] raised an error: 
ERROR Communication with [/rostopic_13107_1388229136740] raised an error: 
ERROR Communication with [/rviz_1388228822447253961] raised an error: 
ERROR Communication with [/rosout] raised an error: 
ERROR Communication with [/play_1388229399051880189] raised an error: 
ERROR Could not contact the following nodes:
 * /rviz_1388228822447253961

ERROR The following nodes should be connected but aren't:
 * /amcl->/rviz_1388228822447253961 (/tf)
 * /play_1388229399051880189->/rviz_1388228822447253961 (/tf)
 * /play_1388229399051880189->/rviz_1388228822447253961 (/scan)
 * /amcl->/rostopic_13107_1388229136740 (/amcl_pose)
 * /play_1388229399051880189->/amcl (/scan)
 * /map_server_1388226536117600099->/rviz_1388228822447253961 (/map)
 * /rostopic_13107_1388229136740->/rosout (/rosout)
 * /play_1388229399051880189->/amcl (/tf)
 * /amcl->/amcl (/tf)
 * /rviz_1388228822447253961->/amcl (/initialpose)
 * /rviz_1388228822447253961->/rosout (/rosout)
 * /play_1388229399051880189->/rosout (/rosout)
 * /amcl->/rosout (/rosout)

What's wrong?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2016-11-08 20:04:42.585584

Comments

What happens when you have your whole system running and then in a separate window run (without quotes): "rostopic echo scan"? I suspect you won't see anything, which either means nothing is publishing to \scan or your environmental variables are configured wrong. What do you have publishing scan?

Tim Sweet gravatar image Tim Sweet  ( 2014-01-01 17:58:19 -0600 )edit

@tim36272 It publishes data, valid data. I can view it in rviz.

maysamsh gravatar image maysamsh  ( 2014-01-01 20:51:36 -0600 )edit

Strange, how about "rostopic info scan"? And is this running on two separate computers over a network or all locally?

Tim Sweet gravatar image Tim Sweet  ( 2014-01-06 19:47:59 -0600 )edit

Type: sensor_msgs/LaserScan. They are all locally.

maysamsh gravatar image maysamsh  ( 2014-02-04 05:43:52 -0600 )edit

When playing from the bag, do you set use_sim_time and --clock? Ie before playing the bag you should run "rosparam set use_sim_time true" and then "rosbag play the_file.bag --clock"

Tim Sweet gravatar image Tim Sweet  ( 2014-02-04 08:09:22 -0600 )edit

I'll try it

maysamsh gravatar image maysamsh  ( 2014-02-04 16:30:48 -0600 )edit
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