Debugging OctoMap [closed]

asked 2015-03-03 08:37:19 -0600

charkoteow gravatar image

updated 2015-03-03 08:40:36 -0600

Running gmapping, octomap with the turtlebot.

Fixed frame in rviz is "map" The launch file frame id is also "map"

<!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
        <param name="frame_id" type="string" value="map" />

But no voxels are coming out on rviz. Quick change from map to base_footprint on both rviz and launch file fixed it but the 3D map is not good.

I've learned that octomap_server needs a fixed frame id and a tf transform of the input PointCloud2 into this frame.

and the frame needs to be "map" to produce a good 3D map.

But something is wrong because nothing is coming out.

So I rosrun rqt_console to debug.

It shows

MessageFilter [target=map ]:   The majority of dropped messages were due to messages growing older than the TF cache time.  The last message's timestamp was: 1425390282.550442, and the last frame_id was: /camera_rgb_optical_frame

Where should I look first to correct this?

edit retag flag offensive reopen merge delete

Closed for the following reason question is not relevant or outdated by tfoote
close date 2018-01-11 20:13:00.914006