Gmapping error while connnecting with VLP16!

asked 2018-06-11 19:15:02 -0500

leanhsonvn gravatar image

updated 2018-06-11 20:14:00 -0500

ahendrix gravatar image

Dear! I have a trouble while using gmapping to create the map using signal from VLP16!

  1. I use but_velodyne_proc to convert the data from Velodyne to Laser
  2. Launch file is follow:

.

<launch>
    <param name="use_sim_time" value="true" />
  <arg name="calibration" default="" />
  <node pkg="but_velodyne_proc" type="laser_scan" name="but_velodyne_proc_laserscan_node" output="screen">
    <remap from="points_in" to="/velodyne_points" />
    <remap from="scan_out" to="base_scan" />
    <param name="min_z" value="0.1" />
    <param name="max_z" value="100.0" />
    <param name="angular_res" value="0.1" />
    <param name="min_range" value="1.2" />
    <!--param name="frame_id" value="/velodyne" /-->
  </node>
    <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0 0 0 0 0 0 /base_link /camera_link 100"/>
<node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen">

    <param name="fixed_frame" value = "odom"/>
    <param name="base_frame" value="base_link"/>
    <param name="fixed_frame" value="world"/>
    <param name="use_alpha_beta" value="true"/>
    <param name="use_odom" value="false"/>
    <param name="use_imu" value="false"/>
    <param name="max_iterations" value="10"/>
    <param name="publish_pose" value="true"/>
    <param name="publish_tf" value="true"/>
    <param name="use_vel" value="false"/>
    </node>

    <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
      <remap from="scan" to="base_scan"/>
        </node>
</launch>
  1. Rqt_graph

https://ibb.co/mTsWV8

However, the gmapping show error:

[ WARN] [1528762323.858459685, 1528196662.821053839]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.

Please help me! Thank you so much

edit retag flag offensive close merge delete

Comments

Did you lost a </node> after <node pkg="tf" ?<="" p="">

Liuche gravatar image Liuche  ( 2018-06-11 20:17:56 -0500 )edit

Thank you, I add the </node> after <node pkg="tf" .="" but="" it's="" still="" show="" the="" same="" result="" for="" gmapping.<="" p="">

ANW, Thank you so much for checking it.

leanhsonvn gravatar image leanhsonvn  ( 2018-06-11 20:32:50 -0500 )edit