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No Laserscan received for many seconds for navigation ?

asked 2017-03-04 14:25:20 -0600

MP21_R2D2 gravatar image

Hi Guys,

I m trying to set up the 2D Navigation Stack. Everything works fine beside of the integration of the laser_scanner. I set up all the transformations as well as publishing all the needed data as map, odom and laser_scan for autonomous navigation. Nevertheless amcl is always saying this:

[ WARN] [1488657566.744750961]: No laser scan received (and thus no pose updates have been published) for 1488657566.744665 seconds. Verify that data is being published on the /scan topic.

I have been working with ROS now over 2 years and i dont understand this mistake. My tf_tree (map->odom->base_link->laser_scanner) doesnt show any errors as well as all published topics show the status ok in rviz. If I m using the fake_amcl node everything works fine. Does anyone know what I can do ? The advice that i found here, to set the sim_time to true causes that amcl isnt loading the map.

Thanks for help :)

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answered 2017-03-09 11:11:02 -0600

Procópio gravatar image

Are you publishing your laser data on the topic requested by amcl? If you type:

rostopic info /scan

can you see both your laser driver and amcl as publisher/subscriber ?

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Asked: 2017-03-04 14:25:20 -0600

Seen: 373 times

Last updated: Mar 09 '17