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AMCL warning: no laser scan received [closed]

asked 2016-11-07 15:43:35 -0600

jmrssc gravatar image

updated 2016-11-07 16:23:24 -0600

Hello, i'm really new in ros, so here's my question:

With AMCL how do i localize the robot?

I got the following warning continually on amcl node:

  [ WARN] [1425574394.999492201]: No laser scan received (and thus no pose updates 
  have been published) for 1425574394.999407 seconds.  Verify that data is being published
  on the /scan topic.

  [ WARN] [1425574394.999585497]: MessageFilter [target=odom ]: Dropped 100.00% of 
  messages so far. Please turn the [ros.amcl.message_notifier] rosconsole logger to DEBUG
  for more information.

but i have data on the /scan topic.

And in rviz, under "global status" i got:

No tf data. Actual error: Fixed Frame [map] does not exist

I've searched for it and many people say that it is related with some /tf transform that I need to change.

Can some of you give me a hint on how to solve this?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2019-05-20 01:32:25.554168

1 Answer

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answered 2018-03-10 08:37:53 -0600

I used a static tf transform 0 0 0 0 0 0 from map to my base_link and solved this.

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I don't think it is appropriate to publish a transform between map and base_link while the odometry transform provides odom to base_link. It is because a frame can only have a parent frame.

chung gravatar image chung  ( 2018-03-10 12:54:05 -0600 )edit

You are correct, I mis-typed. I meant map to odom.

cmfuhrman gravatar image cmfuhrman  ( 2018-03-11 13:58:59 -0600 )edit

map to odom is what AMCL is supposed to publish, so while that error may no longer be generated, I suspect you're not getting what you think. It may work for a short time but wheel slip will add up and you'll start having issues. Assuming robot IRL.

billy gravatar image billy  ( 2018-03-12 18:37:17 -0600 )edit

@billy Is there a way to solve this problem?

pmuthu2s gravatar image pmuthu2s  ( 2018-10-23 12:33:38 -0600 )edit

which problem?

billy gravatar image billy  ( 2018-10-23 16:21:42 -0600 )edit

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Asked: 2016-11-07 15:43:35 -0600

Seen: 1,279 times

Last updated: Mar 10 '18