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How amcl works with only lidar?

asked 2018-12-24 05:58:56 -0500

jamess gravatar image

updated 2018-12-24 06:04:04 -0500

Hello ,

I successfully create a map with hector_slam ı used only Scance Sweep Lidar.

Now I am trying to locate my robot in that room with using only lidar .

rosrun map_server map_server roslaunch sweep_ros sweep2scan.launch
./room.yaml rosrun amcl amcl

[ INFO] [1545651873.310212817]: Requesting the map... [ INFO] [1545651873.328642250]: Received a 2048 X 2048 map @ 0.050 m/pix

[ INFO] [1545651873.525857023]: Initializing likelihood field model; this can take some time on large maps... [ INFO] [1545651873.723486742]: Done initializing likelihood field model. [ WARN] [1545651888.878408658]: No laser scan received (and thus no pose updates have been published) for 1545651888.878305 seconds. Verify that data is being published on the /scan topic. [ WARN] [1545651903.878392812]: No laser scan received (and thus no pose updates have been published) for 1545651903.878312 seconds. Verify that data is being published on the /scan topic. [ WARN] [1545651918.878526048]: No laser scan received (and thus no pose updates have been published) for 1545651918.878456 seconds. Verify that data is being published on the /scan topic. [ WARN] [1545651933.878627662]: No laser scan received (and thus no pose updates have been published) for 1545651933.878550 seconds. Verify that data is being published on the /scan topic. [ WARN] [1545651935.387829538]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.amcl.message_notifier] rosconsole logger to DEBUG for more information.

when i check /scan with rostopic echo /scan i got these results


header: seq: 4245 stamp: secs: 1545652436 nsecs: 876566097 frame_id: "laser_frame" angle_min: -3.1400001049 angle_max: 3.1400001049 angle_increment: 0.0010000000475 time_increment: 0.0 scan_time: 0.10000000149 range_min: 0.20000000298 range_max: 40.0 ranges: [inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, , inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 5.730000019073486, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, , inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 0.8699999451637268, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 0.3400000035762787, inf, inf, inf, inf, inf, inf, inf ... (more)

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answered 2018-12-24 22:42:13 -0500

I think that it's about the frame_id in your /scan topic and your TF setup in amcl , please verify the laser frame setup in amcl or set the laser frame which is coming out from your scanse lidar node

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Thank you, ı have changed lidar frame id to base_laser and it stops complain about it. And also rather than running rosrun amcl amcl , when i launch "amcl_diff/omni.launch" it gave better results then amcl but still not good localization enough.

jamess gravatar image jamess  ( 2018-12-25 01:44:58 -0500 )edit

:) glad to here it worked. Would you mind choosing this post as an answer (the green checkbox on the left) ?

C3MX gravatar image C3MX  ( 2019-01-09 22:36:15 -0500 )edit

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Asked: 2018-12-24 05:58:56 -0500

Seen: 476 times

Last updated: Dec 24 '18