Ask Your Question
0

gmapping simulation

asked 2011-12-09 00:28:47 -0500

apalomer gravatar image

updated 2011-12-11 20:31:23 -0500

Hello,

I'm trying to simulate a map useing turtlebot data. I've been able to build the map if the messages that I publis are tf and scan, but I don't want to record tf because gmaping publishes there.

Insted of this, I try to make the map from odom, scan and joint_states, the topics that only one node publishes on them and affects to gmapping. The thing is that I allways get the same problem:

WARN 1323440435.058256895: MessageFilter [target=/odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.

WARN 1323440435.059003292: MessageFilter [target=/odom ]: The majority of dropped messages were due to messages growing older than the TF cache time. The last message's timestamp was: 1323433160.494893, and the last frame_id was: /kinect_depth_frame

What do you think I could do? It is obvious that has something to do with the time of ros. Is there any option to record the time when recording the data and then play back the time also?

Thanks.

edit retag flag offensive close merge delete

3 Answers

Sort by ยป oldest newest most voted
0

answered 2011-12-11 21:25:37 -0500

apalomer gravatar image

http://www.ros.org/wiki/Clock

I think that part of the solution must be arround that. I'll try!

edit flag offensive delete link more
4

answered 2011-12-09 02:55:35 -0500

Brian Gerkey gravatar image

I'm not sure that I completely understand your use case. But here's something that might be useful: you can selectively filter messages from a .bag. E.g., to get all the non-tf messages, plus only those tf messages that encode a particular transform:

rosbag filter in.bag out.bag 'topic != "tf" or m.transforms[0].header.frame_id == "odom_combined" and m.transforms[0].child_frame_id == "base_footprint"'

I often do something like this to remove the map->odom transform from a bag so that I can test amcl or gmapping.

edit flag offensive delete link more

Comments

Sorry Brian, I saw now that the WARN messages had not been published.
apalomer gravatar imageapalomer ( 2011-12-11 20:32:15 -0500 )edit
1

answered 2011-12-12 03:27:13 -0500

michikarg gravatar image

I also suggest to use rxconsole for debugging and set the loggers to "DEBUG" (like the error-message suggested). This really helped me a lot in such cases:

http://www.ros.org/wiki/rxconsole

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2011-12-09 00:28:47 -0500

Seen: 1,549 times

Last updated: Dec 12 '11