No laser scan received

asked 2014-02-04 05:42:25 -0600

maysamsh
139 ●16 ●20 ●25

I'm trying to use amcl to localize my robot using a bag file. Steps I do are these:

1) Publishing the map: rosrun map_server map_server map.yaml

2) Running amcl: rosrun amcl amcl scan:=base_scan _odom_frame:=odom_combided

3) Playing the bag file: rosbag play small.bag

Published topics are:

/amcl/parameter_descriptions
/amcl/parameter_updates
/amcl_pose
/base_odometry/odom
/base_odometry/odometer
/base_odometry/state
/base_scan
/clock
/initialpose
/map
/map_metadata
/move_base_simple/goal
/particlecloud
/robot_pose_ekf/odom_combined
/rosout
/rosout_agg
/tf
/tilt_scan
/torso_lift_imu/data
/torso_lift_imu/is_calibrated

But amcl node prints out this message continuously: [ WARN] [1391522838.082207618]: No laser scan received (and thus no pose updates have been published) for 1391522838.082082 seconds. Verify that data is being published on the /base_scan topic.

And /amcl_pose publishes nothing.

rxgraph output:
rxgraph

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Comments

can you post your tf tree?

Procópio ( 2014-02-06 00:33:55 -0600 )edit

1

It's not just a typo `odom_combided` != `odom_combined`?

hawesie ( 2014-06-02 14:47:44 -0600 )edit

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1

answered 2014-02-04 10:43:40 -0600

fergs

13902 ●59 ●157 ●196 http://www.robotandchisel.com

updated 2014-02-04 10:44:35 -0600

If you are playing back a bagfile, you should probably use simulated time, since the timestamps on the recorded and played back messages will not match the current system time (the "no laser scan recieved for huge number of seconds" is a good indicator of this). To use sim time, you should set the "use_sim_time" parameter to true before starting AMCL:

rosparam set use_sim_time true

And when starting your bagfile, you should tell it to broadcast the clock (so that the current system time matches the timestamps on your messages being played):

rosbag play small.bag --clock

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Now it says: [ WARN] [1391568852.036509093, 1302532602.518714771]: MessageFilter [target=/odom ]: Dropped 100.00% of messages so far. Please turn the [ros.amcl.message_notifier] rosconsole logger to DEBUG for more information. [ WARN] [1391568852.036509093, 1302532602.518714771]: MessageFilter [target=/odom ]: Dropped 100.00% of messages so far. Please turn the [ros.amcl.message_notifier] rosconsole logger to DEBUG for more information.

maysamsh ( 2014-02-04 18:26:35 -0600 )edit

1

Have you given AMCL a starting localization, either via parameter or from RVIZ?