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No laser scan received, amcl tf conversion problem

asked 2020-11-17 01:11:58 -0500

sreeji gravatar image

updated 2020-11-27 01:16:13 -0500

jayess gravatar image

In ouster lidar, 3D point cloud converted to 2D laser scan, I have checked the laser scan data using rostopic and it is working properly. But in tf frame, the map ->odom is not conversion not happening. If I add static_transform_publisher it is working, but no localization as amcl not linked. If I connected velodyne lidar or Rplidar there is not problem. frame id details:

map_frame_id:map
base_frame_id:base_link
odom_frame_id=odom

scan topic:/scan

<node pkg="tf2_ros" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0.1 0 0 0 1 base_link os1_lidar" />
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What is the frame_id of /scan? Also, when you look at the graph with rosrun tf view_frames, are the base_links connected to the scan?

miura gravatar image miura  ( 2020-11-17 08:55:00 -0500 )edit

yes.Base link connected to scan, frame id of /scan is os1_lidar.

sreeji gravatar image sreeji  ( 2020-11-17 18:36:34 -0500 )edit

conditions for amcl to localize appear to have been met. Sorry, I don't have an idea for a solution.

miura gravatar image miura  ( 2020-11-18 08:34:05 -0500 )edit

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answered 2020-11-27 00:36:41 -0500

sreeji gravatar image

The issue is solved. Problem was in the point cloud to laser scan node, by adding the ROS time as header stamp solved the issue.

In pointcloud_to_laserscan_nodelet.cpp , the below code is added in the laser scan output part.

output.header.stamp = ros::Time::now();

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Congratulations to you! I learned a lot.

miura gravatar image miura  ( 2020-11-27 06:04:06 -0500 )edit

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Asked: 2020-11-17 01:11:58 -0500

Seen: 287 times

Last updated: Nov 27 '20