AMCL warning: no laser scan received
Hello everyone. I'm having a problem.
I acquired a RPLidar A2 recently and I'm trying to perform localization on a previously built map. I've built the map via Hector Map and saved it via map_server - yaml file. I am now trying to use the AMCL node but I have some issues. After a few researches on the problem, I am running the following commands in separate windows.
roslaunch rplidar_ros rplidar.launch
rosrun map_server map_server Documents/Maps/mymap.yaml
rosrun tf static_transform_publisher 0 0 0 0 0 0 map base_link 100
rosrun the tf statin_transform_publisher 0 0 0 0 0 0 base_link laser 100
rosrun amcl amcl
roslaunch rviz rviz
These are the frames I'm getting: https://ibb.co/hzDLLU
In the terminal window, I’m getting a problem in the AMCL launch. The warning message is the following:
No laser scan received (and thus no pose updates have been published) for 1536824498.771014 seconds. Verify that data is being published on the /scan topic.
I have checked the /scan topic and there are messages flowing.
Type: sensor_msgs/LaserScan
Publishers: */rplidarNode
Subscribers: */rviz_1536823488387470311 * /amcl
In the RViz window, I can see the map and the scan, and everything seems to be working, but for some reason I can't get the estimated position of the laser inside the map. Any suggestion on what is causing the problem? I believe it must be something with the TF but the TF tree seems OK to me.
Thank you for your help
PS: Ubuntu 16.04; ROS kinetic
Could it have to do with simulated time vs wall-clock time? Are you running with live data or from a bag file?
I am using live data.
I don't think the problem is the time. I am building a map with hector_slam using use_sim_time=false and while running the AMCL I don't set the parameter.
I am facing the same problem. I am using RPLidar and have my .yaml map. Did you fix the problem? Could you publish the launch files?