turtlebot nav subscriber.... transform_tolerance does no good [closed]
I'm on jade, running the turtlebot and amcl stack for 2dnav. I have a custom launch file which brings together the minimal.launch and amcl and to publish depth-image data so I can use cmvision_3d (which is working in jade).
I have problems with timeouts. When I bring up the launch file below, usually I get few or no warnings and can set goals with rviz with no problem. But when I bring up the cmvision_3d as a subscriber, I immediately get timeouts.
which lead to
So upon reading, I decided to set the transform_timeout to a longer time.
In the turtlebot_navigation/launch/includes/amcl.launch.xml This is set to 1.0 with this note:
This setting seems to be ignored. I tried to modify it and the costmap specifically and it didn't matter. I finally edited the local and global_costmap_params.yaml directly.
Upon testing it, it doesn't work. Or rather, the transform_tolerance is set finally, but the error still occurs. When I start the nav stack, all is well. When I set the cmvision_3d subscriber, I get the same errors. I've tested this all the way up to the unrealistic values of 5.0.
So... Is this a hardware problem?
Or, what else might be happening?
Launch file below.
<launch>
<!-- basic turlebot control -->
<include file="$(find turtlebot_bringup)/launch/minimal.launch">
</include>
<!-- kinect and frame ids with data skip param added-->
<!-- <param name="/camera/driver/data_skip" value="2" /> -->
<include file="$(find openni_launch)/launch/openni.launch">
<arg name="depth_registration" value="true"/>
</include>
<!-- openni_manager -->
<node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" args="image:=/camera/depth_registered/image_raw" respawn="true">
<!--param name="output_frame_id" value="/camera_depth_frame"/-->
<param name="scan_height" value="10"/>
<param name="scan_time" value="0.034"/> <!--was 0.125 -->
<param name="range_min" value="0.50"/>
<param name="range_max" value="6.0"/>
<param name="min_height" value=".10"/>
<param name="max_height" value="2.0"/>
</node>
<!-- Map server -->
<arg name="map_file" default="/home/todd/research/map.yaml" />
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">
<param name="transform_tolerance" value="0.5"/>
</node>
<include file="$(find turtlebot_navigation)/launch/includes/amcl.launch.xml">
<arg name="initial_pose_x" value="0.6"/>
<arg name="initial_pose_y" value="0.6"/>
<arg name="initial_pose_a" value="0.0"/>
<param name="transform_tolerance" value="0.5"/>
</include>
<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml">
<param name="xy_goal_tolerance" value="0.03"/>
<param name="yaw_goal_tolerance" value="0.05"/>
</include>
</launch>
And the cmvision_3d startup is: roslaunch cmvision_3d color_tracker.launch
<launch>
<arg name="image" default="/camera/rgb/image_color"/>
<arg name="depth_image" default="/camera/depth_registered/image_raw"/>
<arg name="camera_topic" default="/camera/rgb/camera_info"/>
<!-- Do we want to publish our blobs to tf? -->
<arg name="publish_tf" default="true"/>
<node name="cmvision" pkg="cmvision" type="cmvision" args="image:=$(arg image)" output="screen">
<!-- Location of the cmvision color file -->
<param name="color_file" type="string"
value="$(find cmvision_3d)/colors/colors.txt" />
<!-- Turn debug output on or off -->
<param name="debug_on" type="bool" value="false ...