amcl jumped very much with debug infomation "Time jumped forward by [...] for timer of period [...] ...."
Hello,
I use robot_pose_ekf to fuse odom and imu to get a more accurate tf(from odom to base_footprint
),and then let amcl use this tf to provide a tf(from map to base_footprint
). And when i see the amcl wiki , it tells me we should use diff-corrected
odom model. I also use likelihood_field_prob
laser model to let amcl not use the scans which hit unexpected obstacles such human beings ,when localizing robot with laser on the global map . In rviz ,when i see amcl provides particle_cloud
,it is more converged than old models(diff mode and likelihood_field
laser model), very excited and thankful!!!!
- But sometimes when robot is moving and all particle_cloud is converged( in free map areas ,there is no particle),let us mark this time is
t_k
time. Suddenly the particle_cloud is little converged thant_k
time ,but it still has some particles converged in robot footprint and in map free areas, there also appears some particles.let mark this time ist_k+1
time. This is t_k+1.jpg. whent_k+2
time ,robot pose in map jumped very much. It jumped in some should not be place, and the amcl output particle_cloud are all converged in robot footprint, it is weird!!!,This is t_k+2.jpg. - when i
rosbag record
all the topics androsbag play
them ,rqt_plot
the robot_pose_ekf pose data(i write a node to get robot pose in odom ) and amcl output pose data to watch whether it because robot_pose_ekf data occured . But when i see rivz andrqt_plot
,when amcl position jumped ,robot_pose_ekf position data did not jump. I guess this is not odom, imu and robot_pose_ekf' s problem. This is amcl_jumped_data_analysis.png,ans its zoomed out png1,zoomed out png2 - This is amcl_jump_video.mp4 , amcl_jump.bag , package:to convert_orientation2Yaw_And_get_pose_ekf_position and default.rviz config file
- when i let amcl node logger level is Debug, i see some print useful information such as
"Time jumped forward by [0.364688] for timer of period [0.010000], resetting timer (current=946684907.876552),next _expected=946684907.511864"
Dubug infos: Time jumped forward.jpg - Does amcl jumped because this message ?? how can i fixed this problem??
- Any advice will be appreciated and thanks you very very much!!!!