Exploration stack on p3dx [closed]

edit

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 static_map to false and rolling_window to "true" 2) I am not running amcl node for localization 3) Set the expected_update_rate 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

global_costmap_params.yaml

global_costmap:
global_frame: /map
robot_base_frame: base_link
update_frequency: 5.0
static_map: false

local_costmap_params.yaml

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

base_local_planner_params.yaml

TrajectoryPlannerROS:
max_vel_x: 0.45
min_vel_x: 0.1
max_rotational_vel: 1.0
min_in_place_rotational_vel: 0.4
acc_lim_th: 3.2
acc_lim_x: 2.5
acc_lim_y: 2.5
holonomic_robot: true

costmap_common_params.yaml

obstacle_range: 3.0
raytrace_range: 3.5
footprint: [[-0.2, 0.2], [-0.2, -0.2], [0.2, 0.2], [0.2, -0.2]]
inflation_radius: 0.55
observation_sources: laser_scan_sensor
laser_scan_sensor: {sensor_frame: /laser, data_type: LaserScan, topic: base_scan, marking: true, clearing: true, expected_update_rate: 0.5}

Update

move_base log

[roscpp_internal] [2011-03-19 18:07:31,567] [thread 0xb6906740]: [DEBUG] XML-RPC call [searchParam] returned an error (-1): [Cannot find parameter [footprint_padding] in an upwards search]
[roscpp_internal] [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 [controller_frequency] in an upwards search]
[ros.base_local_planner] [2011-03-19 18:07:37,962] [thread 0xb6906740]: [INFO] Sim period is set to 0.05
[roscpp_internal] [2011-03-19 18:07:38,002] [thread 0xb6906740]: [DEBUG] XML-RPC call [getParam] returned an error (-1): [Parameter [/move_base/TrajectoryPlannerROS/backup_vel] is not set]
[roscpp_internal] [2011-03-19 18:07:38,003] [thread 0xb6906740]: [DEBUG] XML-RPC call [getParam] returned an error (-1): [Parameter [/move_base/TrajectoryPlannerROS/escape_vel] is not set]
[roscpp_internal] [2011-03-19 18:07:38,010] [thread 0xb6906740]: [DEBUG] XML-RPC call [getParam] returned an error (-1): [Parameter [/move_base/TrajectoryPlannerROS/y_vels] is not set]
[ros.costmap_2d] [2011-03-19 18:07:39,407] [thread 0xa869fb70]: [WARN] The base_scan observation buffer has not been updated for 0.79 seconds, and it should be updated every 0.50 seconds.
[ros.costmap_2d] [2011-03-19 18:07:40,407] [thread 0xa869fb70]: [WARN] The base_scan observation buffer has not been updated for 1.79 seconds, and it should be updated every 0.50 seconds.

Launch files

robot_configuration.launch

<launch >
    <node pkg="p2os_dashboard" type="p2os_dashboard" name="p2os_dashboard" output ...