range_sensor_layer error [closed]

asked 2016-09-15 01:44:54 -0600

ahanaga
1 ●2 ●2 ●4

updated 2016-09-15 04:30:11 -0600

Hi all, I am using four sonar sensor and Hokuyo laser for navigation. I am using range_sensor_layer for sonar sensor. The problem is when I publish the sensor_msgs/Range message and use the range_sensor_layer, I get the following error:

[ERROR] [1473920347.325424279]: Range sensor layer can't transform from odom to sonar_one_range at 1473920347.167207

I am not able to see why am I getting this error as the tf tree is properly set up and there is a transformation from odom to sonar_one_range.

tf tree: link text

costmap_common_params.yaml

obstacle_range: 3.0
raytrace_range: 3.0

footprint: [[0.30, 0.0], [0.30,-0.25], [0.0, -0.25], [-0.30, -0.25], [-0.30,0.0], [-0.30, 0.25], [0.0, 0.25], [0.30, 0.25]]
#robot_radius: 0.5
inflation_radius: 0.2

max_obstacle_height: 0.6
min_obstacle_height: 0.0

obstacle_layer:
   observation_sources: scan
   scan:
      data_type: LaserScan
      topic: scan
      marking: true
      clearing: true
      expected_update_rate: 0.0
      observation_persistence: 0.0

range_sensor_layer:
   ns: /sensors/sonar_sensor
   topics: ["sonar_one_range","sonar_two_range","sonar_three_range","sonar_four_range"]
   no_readings_timeout: 0.0
   clear_threshold: 2.0
   mark_threshold: 8.0
   clear_on_max_reading: true

local_costmap_params.yaml

local_costmap:
   global_frame: /odom
   robot_base_frame: /base_link
   update_frequency: 2.0
   publish_frequency: 2.0
   static_map: false
   rolling_window: true
   width: 2.0
   height: 2.0
   resolution: 0.1
   transform_tolerance: 1.0
   plugins:
     - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
     - {name: range_sensor_layer, type: "range_sensor_layer::RangeSensorLayer"}

global_costmap_params.yaml

global_costmap:
   map_type: costmap
   global_frame: /map
   robot_base_frame: /base_link
   update_frequency: 3.0
   publish_frequency: 3.0
   static_map: true
   rolling_window: false
   resolution: 0.1
   transform_tolerance: 1.0

sonar_one_range message:

---
header: 
  seq: 2
  stamp: 
    secs: 1473931687
    nsecs: 574187994
  frame_id: sonar_one_range
radiation_type: 1
field_of_view: 0.05
min_range: 0.15000000596
max_range: 6.0
range: 0.319999992847
---

Does anyone have any idea what is going wrong here? Please let me know if you need more information from me. Any help will be appreciated.

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Closed for the following reason the question is answered, right answer was accepted by ahanaga
close date 2016-09-15 20:47:15.077205

Comments

Certainly, from the error message, range_sensor_layer cannot find an appropriate transform. Many things could be wrong: 1) typo in one of the frame names, 2) transformation isn't current enough, 2) rate of publishing tf, etc. Are you using URDF to describe your frames?

Mark Rose ( 2016-09-15 18:08:45 -0600 )edit

And how are your publishing the transforms? The odom to base_link transform should be published by your odometry components. Transformations from base_link to sensor frames use usually done via URDF, robot_state_publisher, and joint_state_publisher. Are you using those or something else?

Mark Rose ( 2016-09-15 18:10:26 -0600 )edit

Thanks for your reply. I modified my rate, so now It's ok.