No laser scan received
Hello,
I know this question has been asked many times for single robot but i cannot figure it out for my multi-robot-system. Please Note: It is perfectly working for a single robot. But it is giving the error below when launching multiple robots.
No laser scan received (and thus no pose updates have been published) for 18.505000 seconds. Verify that data is being published on the /plato1/scan topic.
[ WARN] [1544187859.336072043, 18.505000000]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.amcl.message_notifier] rosconsole logger to DEBUG for more information.
[ WARN] [1544187859.350568657, 18.515000000]: No laser scan received (and thus no pose updates have been published) for 18.515000 seconds. Verify that data is being published on the /plato2/scan topic.
[ WARN] [1544187859.350708006, 18.515000000]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.amcl.message_notifier] rosconsole logger to DEBUG for more information.
Now, the problem is that data is being published on the topics (/plato1/scan and /plato2/scan). But somehow this error is causing me problems.
I am running it in Gazebo simulation.
(((Below is the pdf file of the tf tree. Please download it))) https://drive.google.com/file/d/1Fmvq...
Any help please!
Can you tell us more about your setup. Are you using multiple on board computers? Have you checking messages can be passed between them okay? What does rqt_graph show on each machine?
@pete Well, it is in simulation (gazebo). So, it is working.
The most imortant thing is actually
MessageFilter [target=odom ]: Dropped 100.00% of messages so far.. This is fromtf, which is used to transform the laserscan into the map frame. As this is simulation, I'm assuming you are running this on a single computer. Have you checked thetfsetup? ...You need to have seperate trees for both robots. This is hard to achieve, and since
tf2removedtf_prefixsupport it is even harder to achieve now. Though it wasn't super easy to begin with... ...to go further in debugging, please post a picture of your tf tree, e.g. using
rosrun tf view_frames.@mgruhler I have attached the tf tree in pdf format. You need to edit the extension (remove .jpg to view pdf).
@RoboRos when you edit the question, you can embedd it by clicking on the "image" link above the edit window. I can't access the image the way you integrated it.
You can download the file from the below link: (image wont be able to present the whole tree): . https://drive.google.com/file/d/1Fmvq...