tf::MessageFilter, laser callback in gmapping
hi ,
i am working with offlinedata to build gridmap using gmapping in ros.
My query is why SlamGMapping::laserCallback
is not getting called everytime it recieves a sensor_msgs::LaserScan
.
For mycase when i am publishing 107 sensor_msgs::LaserScan
and 107 /tf
and 107 nav_msgs::Odometry
messages SlamGMapping::laserCallback
is called only for 6 times for messages 0,1,18,65,78,99.
scan_filter_sub_ = new message_filters::Subscriber<sensor_msgs::LaserScan>(node_, "scan", 5);
scan_filter_ = new tf::MessageFilter<sensor_msgs::LaserScan>(*scan_filter_sub_, tf_, odom_frame_, 5);
scan_filter_->registerCallback(boost::bind(&SlamGMapping::laserCallback, this, _1));
void SlamGMapping::laserCallback(const sensor_msgs::LaserScan::ConstPtr& scan)
{
laser_count_++;
ROS_INFO("laser_count_= %d sequence =%d",laser_count_,scan->header.seq);
why SlamGMapping::laserCallback
is not getting called everytime it recieves sensor_msgs::LaserScan
and /tf
.
How to make all the scans being processed.
-- Thanks.