RPlidar. No laser scan received (and thus no pose updates have been published) for 1633661017.717965 seconds. Verify that data is being published on the /scan topic.
hello, im pretty new using ROS.i need help in my project. so i want to do localization using rplidar a1m8. i already create a map with .yaml format. here the steps i did:
- roscore
- roslaunch rplidar_ros rplidar.launch
- rosrun map_server my_map.yaml
- rosrun rviz rviz.
- rosrun amcl amcl scan:=scan
after the rviz open, i add the map and the map topic. the map that i have save already appear too. but there is issue in the riviz:
Fixed Frame No tf data. Actual error: Fixed Frame [map] does not exist
For frame [laser]: Fixed Frame [map] does not exist (when i add laser scan )
in the amcl terminal : No laser scan received (and thus no pose updates have been published) for 1633660882.718082 seconds. Verify that data is being published on the /scan topic.
note: i get the amcl from this channel : https://www.youtube.com/watch?v=ZfQ30.... i just copy
my question is:
- is my step right to do localization?
- if right, why thats error happen
- what should i do, i stuck
please help me..
using ros melodic, RPI4, ubuntu 18.04
I would look at the third error first, and do as it says: "Verify that data is being published on the /scan topic". One thing to do is to run
rostopic echo /scanand see if you get any messages; another is to userosrun rqt_graph rqt_graph(wiki) and make sure the lidar driver and AMCL node are connected via the/scantopic. Please, post the results.hi, sorry for my late response. its seemns there is no issue when i check the /scan topic uisng rostopic echo scan. you can check my screen shot here: link text
then i check using rostopic info /scan. and the result, scan topic is already subscribed by amcl. you can check my screen shot here: link text
Your issue may be with other topics or frames in your AMCL configuration. For example,
base_frame_iddefaults tobase_link, but if you're only using a lidar, you should probably change that to the lidar's frame. Also, do you have anything publishing a transform for theodomframe?same question on my computer. I really wonder if you have already solved it. My env is ros noetic with ubuntu20.04.