move_base_node not subscribed to laserscan [closed]

asked 2016-12-14 07:01:41 -0600

gijsje170 gravatar image

updated 2016-12-14 07:40:13 -0600

Hello,

In my costmap_common_params.yaml i have the following sources:

observation_sources: scan bump

scan: {data_type: LaserScan, topic: base_scan, marking: true, clearing: true, min_obstacle_height: 0.0, max_obstacle_height: 1.0}
bump: {data_type: PointCloud2, topic: pointcloud, marking: true, clearing: false, min_obstacle_height: 0.0, max_obstacle_height: 0.1}

But for some reason when using rostopic echo /base_scan it only shows the subscribers:

rostopic info /base_scan 
Type: sensor_msgs/LaserScan

Publishers: 
 * /depthimage_to_laserscan (http://gijs-Latitude-E7470:41504/)

Subscribers: 
 * /amcl (http://gijs-Latitude-E7470:43920/)
 * /rviz (http://gijs-Latitude-E7470:46177/)
 * /rtabmap/rtabmapviz (http://gijs-Latitude-E7470:37322/)
 * /rtabmap/rtabmap (http://gijs-Latitude-E7470:46750/)

While it should also say /move_base_node for the local costmap. Which can be seen at rostopic echo /pointcloud

rostopic info /base_scan 
Type: sensor_msgs/LaserScan

Publishers: 
 * /depthimage_to_laserscan (http://gijs-Latitude-E7470:41504/)

Subscribers: 
 * /amcl (http://gijs-Latitude-E7470:43920/)
 * /rviz (http://gijs-Latitude-E7470:46177/)
 * /rtabmap/rtabmapviz (http://gijs-Latitude-E7470:37322/)
 * /rtabmap/rtabmap (http://gijs-Latitude-E7470:46750/)

What is wrong with my setup?

EDIT: Another weird thing I found out is that even when removing this line

bump: {data_type: PointCloud2, topic: pointcloud, marking: true, clearing: false, min_obstacle_height: 0.0, max_obstacle_height: 0.1}

It will still work with the bumper sensor but not with the laserscan for some reason.

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2017-12-20 20:19:58.215097

Comments

Could you provide the complete output of rostopic list? Also, maybe try enclosing the observation sources value in quotes: "scan bumb"

jacobperron gravatar imagejacobperron ( 2016-12-14 11:20:52 -0600 )edit