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No laser scan received

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

maysamsh gravatar image

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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can you post your tf tree?

Procópio gravatar imageProcópio ( 2014-02-06 00:33:55 -0600 )edit
1

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

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

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

fergs gravatar image

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 gravatar imagemaysamsh ( 2014-02-04 18:26:35 -0600 )edit
1

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

fergs gravatar imagefergs ( 2014-02-05 08:05:05 -0600 )edit

@fergs, no should I do it? if yes, how?

maysamsh gravatar imagemaysamsh ( 2014-02-05 12:31:23 -0600 )edit

http://wiki.ros.org/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack shows how to send an initial pose using RVIZ

fergs gravatar imagefergs ( 2014-02-06 19:57:14 -0600 )edit
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answered 2014-05-31 07:55:45 -0600

yasamin gravatar image

hi,did you solve it? i have the main problem

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answered 2015-08-10 02:18:55 -0600

TomSon gravatar image

I do have the same problem too on Indigo. Have you solve it ?

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3

What you wrote is not an answer. If you want to comment on a question, please use "add a comment".

Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2015-08-10 06:39:17 -0600 )edit

my bad sorry

TomSon gravatar imageTomSon ( 2015-08-10 06:54:52 -0600 )edit
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answered 2014-02-04 06:44:59 -0600

Dereck gravatar image

while playing back the bag file, check that you have data actually flowing in the topic:

$ rostopic echo /base_scan

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/base_scan publishes laser scanner data

maysamsh gravatar imagemaysamsh ( 2014-02-04 16:29:35 -0600 )edit

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

Seen: 2,869 times

Last updated: Aug 10 '15