# Intermittent origin for sensor out of bounds error [closed]

Hello,

I have a Turtlebot2 with a Kinect and Kobuki base. I am running ROS Groovy on Ubuntu 12.04 64 bit.

I am trying to run some simple navigation demos. I turn on my robot, and run the following steps in separate windows:

roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_teleop keyboard_teleop.launch


I've been running short tests where I drive the robot down a hall and back. Gmapping normally works fine, but on some runs, I get a cluster of these errors for some periods of time:

Average Scan Matching Score=329.899
neff= 77.5273
Registering Scans:Done
[ WARN] [1378498641.770354174]: The origin for the sensor at (1.71, -1.47) is out of map bounds. So, the costmap cannot raytrace for it.
update frame 1296
Laser Pose= 1.77298 -1.55188 -1.01984
m_count 10
[ WARN] [1378498642.770332443]: The origin for the sensor at (1.66, -1.48) is out of map bounds. So, the costmap cannot raytrace for it.
Average Scan Matching Score=246.659
neff= 72.376
Registering Scans:Done
[ WARN] [1378498644.103692845]: The origin for the sensor at (1.65, -1.49) is out of map bounds. So, the costmap cannot raytrace for it.
[ WARN] [1378498645.103731002]: The origin for the sensor at (1.64, -1.63) is out of map bounds. So, the costmap cannot raytrace for it.
[ WARN] [1378498646.437050178]: The origin for the sensor at (1.64, -1.63) is out of map bounds. So, the costmap cannot raytrace for it.
[ WARN] [1378498647.437073195]: The origin for the sensor at (1.63, -1.63) is out of map bounds. So, the costmap cannot raytrace for it.
update frame 1430
Laser Pose= 1.77534 -1.55419 -0.57976
m_count 11
[ WARN] [1378498648.770286281]: The origin for the sensor at (1.63, -1.65) is out of map bounds. So, the costmap cannot raytrace for it.
[ WARN] [1378498649.770286023]: The origin for the sensor at (1.74, -1.72) is out of map bounds. So, the costmap cannot raytrace for it.
Average Scan Matching Score=357.032
neff= 69.4034
Registering Scans:Done
update frame 1630
Laser Pose= 2.21948 -1.78578 -0.47036


What I find terribly strange is that it doesn't always happen. It seems to happen more frequently when I have another application running that I wrote. All it really does is print out the robot's coordinates to a file every second. Relevant portions of the code are shown:

  geometry_msgs::PointStamped basePoint;

basePoint.point.x = 0.0;
basePoint.point.y = 0.0;
basePoint.point.z = 0.0;

while (n.ok())
{
tf::StampedTransform transform;

geometry_msgs::PointStamped mapPoint;
basePoint.header.stamp = ros::Time(0); //Get cache empty errors elsewise (!?)
try
{

listener.transformPoint("/map", basePoint, mapPoint);

ROS_INFO("Got a transform! x = %f, y = %f ...
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