Range sensor layer can't transform problem
Hi,
Basically, I have already setup ROS navigation stack. Recently, ultrasound is added based on this. When navigation is launched, the following error is reported on terminal:
[ERROR][1597716834.037715071][/move_base]:Range sensor layer can't transform from map to ultrasound at 1597716828.438807
This problem is similar to link1, link2 and some others I have found in this forum. But none of the suggested solutions work in my case. My current solution to this problem is decreasing the timestamp in header of ultrasound published topic Range message as described here. For instance, just -0.5 second from the timestamp in the header, then there is no error reported on the terminal.
I have also studied a bit about the source of RangeSensorLayer. According to my current knowledge, it seems that the ERROR is caused by this line 252. I just cannot understand the reason of the above fix based on source code. Could someone please provide some hints about this? Thanks in advance.
Best regards, Gerry
How often do you publish the transform?
about 10 Hz
Try to increase the frequency to 20Hz. Also: how often do you get this error?
I tried to increase the frequency to 20 Hz, but the error is still reported without decreasing the time from timestamp in the header of Range message. About the frequency of the error, I'd say it is intermittent. Sometimes the difference between two errors is 3 seconds, sometimes it is about 2 seconds. Not regular.
I would not worry too much if I miss a single message every 3 seconds. But I still wonder: Did you run the ros nodes on multiple computers connected with wifi or is your cpu utilization near 100%?
In our setup, all of the ROS nodes are running on the same computer. And I have checked that when navigation is launched with no destination specified (the robot is not moving), the CPU utilization is about 12% on our machine.