AMCL sensor origin out of map bounds error

asked 2020-04-20 15:10:49 -0500

CarloK gravatar image

I'm trying to run AMCL on a pre-built map using gmapping, but for some reason I keep getting the following error:

The origin for the sensor at (-0.06, 0.08, 0.30) is out of map bounds. So, the costmap cannot raytrace for it.

As a result, the scattered "arrows" are not converging even when I move the robot in the map using teleop. I have checked my configuration parameters, and it all seems to be normal. In the local costmap configuration, I have static disabled and rolling window enabled, and static global costmap on the other hand.

My pgm file was however edited (cropped), but I don't believe this should affect things as the location shown by rviz and the actual location of the Turtlebot are quite similar.


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Have you tried moving the robot initial pose into the map a bit so that the sensor is within the map? By default the base will start at the origin and if the Base --> Laser TF then places the laser out of the map, I guess this error could result.

billy gravatar image billy  ( 2020-04-22 01:35:46 -0500 )edit