I am setting up exploration stack on p3dx with gmapping.

When I launch the exploration node I get the following warning repeatedly

The base_scan observation buffer has not been updated for 3.05 seconds, and it should be updated every 0.20 seconds.

How should I resolve this? The robot rotates in the same position and after a while the exploration stops. Any problem with the base_scan topic here? Is this problem causing exploration to stop early?

Update

Just to verify what I did. 1) I set staticmap to false and rollingwindow to "true" 2) I am not running amcl node for localization 3) Set the expectedupdaterate for base_scan to 0.2

Am I right?

The "base_scan not updated" warning comes from the explore node.

The following warning comes from move_base node

The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?

Should I post all my configuration files?

Update

globalcostmapparams.yaml

globalcostmap:
globalframe: /map
robotbaseframe: baselink
updatefrequency: 5.0
static_map: false

localcostmapparams.yaml

localcostmap: globalframe: odom
robotbaseframe: baselink
updatefrequency: 5.0
publishfrequency: 2.0
staticmap: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05

baselocalplanner_params.yaml

TrajectoryPlannerROS:
maxvelx: 0.45
minvelx: 0.1
maxrotationalvel: 1.0
mininplacerotationalvel: 0.4
acclimth: 3.2
acclimx: 2.5
acclimy: 2.5
holonomic_robot: true

costmapcommonparams.yaml

obstaclerange: 3.0
raytracerange: 3.5
footprint: [[-0.2, 0.2], [-0.2, -0.2], [0.2, 0.2], [0.2, -0.2]]
inflationradius: 0.55
observationsources: laserscansensor
laserscansensor: {sensorframe: /laser, datatype: LaserScan, topic: basescan, marking: true, clearing: true, expectedupdate_rate: 0.5}

Update

move_base log

[roscppinternal] [2011-03-19 18:07:31,567] [thread 0xb6906740]: [DEBUG] XML-RPC call [searchParam] returned an error (-1): [Cannot find parameter [footprintpadding] in an upwards search]
[roscppinternal] [2011-03-19 18:07:37,936] [thread 0xb6906740]: [DEBUG] Publisher update for [/odom]: already have these connections:
[roscpp_internal] [2011-03-19 18:07:37,962] [thread 0xb6906740]: [DEBUG] XML-RPC call [searchParam] returned an error (-1): [Cannot find parameter [controllerfrequency] in an upwards search]
[ros.baselocalplanner] [2011-03-19 18:07:37,962] [thread 0xb6906740]: [INFO] Sim period is set to 0.05
[roscppinternal] [2011-03-19 18:07:38,002] [thread 0xb6906740]: [DEBUG] XML-RPC call [getParam] returned an error (-1): [Parameter [/movebase/TrajectoryPlannerROS/backupvel] is not set]
[roscpp_internal] [2011-03-19 18:07:38,003] [thread 0xb6906740]: [DEBUG] XML-RPC call [getParam] returned an error (-1): [Parameter [/movebase/TrajectoryPlannerROS/escapevel] is not set]
[roscpp_internal] [2011-03-19 18:07:38,010] [thread 0xb6906740]: [DEBUG] XML-RPC call [getParam] returned an error (-1): [Parameter [/movebase/TrajectoryPlannerROS/yvels] is not set]
[ros.costmap_2d] [2011-03-19 18:07:39,407] [thread 0xa869fb70]: [WARN] The basescan observation buffer has not been updated for 0.79 seconds, and it should be updated every 0.50 seconds.
[ros.costmap2d] [2011-03-19 18:07:40,407] [thread 0xa869fb70]: [WARN] The basescan observation buffer has not been updated for 1.79 seconds, and it should be updated every 0.50 seconds.

Launch files

robotconfiguration.launch

<launch >
    <node pkg="p2osdashboard" type="p2osdashboard" name="p2osdashboard" output="screen" >
    < /node >


&lt;node pkg="p2os_driver" type="p2os" name="p2os" output="screen" &gt;
&lt;/node&gt;

&lt;node pkg="sicktoolbox_wrapper" type="sicklms" name="sicklms" output="screen"&gt;
    &lt;param name="port" value="/dev/ttyUSB1" /&gt;
    &lt;param name="baud" value="38400" /&gt;
    &lt;param name="resolution" value="1.0" /&gt;
&lt;/node&gt;


</launch>

move_base.launch

 
<launch>
  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(find navigation_pkg)/map.yaml"/>
  <!--- Run AMCL -->
  <include file="$(find amcl)/examples/amcl_diff.launch" />
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find navigation_pkg)/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find navigation_pkg)/costmap_common_params.yaml" command="load" ns="local_costmap" />
   <rosparam file="$(find navigation_pkg)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find navigation_pkg)/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find navigation_pkg)/base_local_planner_params.yaml" command="load" />
  </node>
</launch>

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05