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Problem with rosbag and rviz using laser scanner data

asked 2015-06-17 05:03:52 -0500

Flavio90 gravatar image

Hi guys,

I’m trying to use rviz to read this laser scanner sampled data ( http://classes.engineering.wustl.edu/... ) , using rosbag play. I add a display that reads the /base_scan topic and i visualize data on the grid, but in the terminal i get this error: [ WARN] [1434533618.305097862]: MessageFilter [target=map ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_notifier] rosconsole logger to DEBUG for more information. What does it mean and how could i solve it? Then, i’d like to use the gmapping node to read the same sample data from the /base_scan topic. When i launch the gmapping node i get this error: [ WARN] [1434533924.754354892]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information. I noticed that the gmapping node needs also to read the /ft topic to work properly, but that topic is not published when i run rosbag play Mapping1.bag, so it’s empty. Is it a problem? How can i manage it?

Thank you very much, Flavio

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answered 2015-06-17 13:31:07 -0500

William gravatar image

That message is because rviz is not receiving any tf data for odom, which is probably what you have your fixed frame set to in rviz. You can change your fixed frame to be the frame_id of the laser data if you just want to visualize it in rviz. Otherwise you'll need a tf tree between /odom and the laser data's frame_id. You'll also need this kind of tf data if you want to use the laser data with gmapping SLAM. This is because the SLAM algorithm needs the position of the laser with respect to the rest of the world over time in order to make a map from the laser data. Typically this means you have at least a transform from /odom to the robot's frame (usually /base_link) that updates over time and a static transform between the robot's frame and the laser's frame. At the absolute minimum I believe you can get away with a single updating transform between /odom and the laser's frame.

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Asked: 2015-06-17 04:54:04 -0500

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Last updated: Jun 17 '15