ROS 2 SLAM not working, 'queue is full'

asked 2022-07-21 15:42:24 -0500

jsfern gravatar image

Hi, I've been trying to do mapping using ROS 2, but when I try to initialize the slam toolbox, I get an error saying: 'Message Filter dropping message: frame 'laser_frame' at time ... for reason 'discarding message because the queue is full'. I know the problem is the tf tree, but I can't tell what exactly.

I am attaching the tf tree, and the output of ros2 topic echo /tf. Any help will be really appreciated since I've been working on this for the last couple of days.

Static Transform Publisher: def generate_launch_description(): return LaunchDescription([ Node(package='tf2_ros', executable='static_transform_publisher', arguments=['-0.012', '0', '0.144', '0', '0', '0', 'base_footprint', 'laser_frame']),

Tree: map: {} odom: base_footprint: laser_frame: {} base_link: bump_front_center: {} bump_front_left: {} bump_front_right: {} bump_left: {} bump_right: {} button_1: {} button_2: {} button_power: {} cliff_front_left: {} cliff_front_right: {} cliff_side_left: {} cliff_side_right: {} ir_intensity_front_center_left: {} ir_intensity_front_center_right: {} ir_intensity_front_left: {} ir_intensity_front_right: {} ir_intensity_left: {} ir_intensity_right: {} ir_intensity_side_left: {} ir_omni: {} left_wheel: {} mouse: {} right_wheel: {}

Echo: transforms: - header: stamp: sec: 1658427099 nanosec: 318451217 frame_id: odom child_frame_id: base_link transform: translation: x: -2.140942096710205 y: 3.5825376510620117 z: 0.08043167740106583 rotation: x: 0.006215148605406284 y: 0.02177419140934944 z: -0.21796154975891113 w: 0.9756945967674255 - header: stamp: sec: 1658427099 nanosec: 318451217 frame_id: odom child_frame_id: base_footprint transform: translation: x: -2.141959167701808 y: 3.5798022850077063 z: 0.0 rotation: x: 0.0 y: 0.0 z: -0.21798832714557648 w: 0.9759513735771179

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Comments

Can you get e.g. screenshot of the TF? And list the parameters you used?

ahopsu gravatar image ahopsu  ( 2023-03-27 16:08:29 -0500 )edit