Ask Your Question
0

/odom stops sending tf data

asked 2011-05-04 05:12:43 -0500

updated 2011-05-05 03:36:20 -0500

I am having problems with my own robot driver because after some time it stops sending odometry data. I checked the tf_monitor and I can see how the net_delay is slowly increasing until I can see the following error:

RESULTS: for /base_link to /map
Chain is: /base_link -> /odom -> /map
Net delay     avg = 6.87636: max = 7.88385

Frames:
Frame: /base_link published by /auriga_robot_base Average Delay: -1.96377 Max Delay: 0
Frame: /odom published by /slam_gmapping Average Delay: -2.00705 Max Delay: 0

All Broadcasters:
Node: /auriga_robot_base 10.0101 Hz, Average Delay: -1.96377 Max Delay: 0
Node: /laser_broadcaster 19.9809 Hz, Average Delay: -2.05722 Max Delay: 0
Node: /slam_gmapping 20.0302 Hz, Average Delay: -2.00705 Max Delay: 0
terminate called after throwing an instance of 'tf::ConnectivityException'
  what():  Could not find a common time /map and /base_link.

And the net_delay between /base_link and /odom is:

RESULTS: for /base_link to /odom
Chain is: /base_link -> /odom
Net delay     avg = 185.881: max = 186.893

Frames:
Frame: /base_link published by /auriga_robot_base Average Delay: 0.00108199 Max Delay: 0.0427322
Frame: /odom published by /slam_gmapping Average Delay: -0.0422399 Max Delay: 0

All Broadcasters:
Node: /auriga_robot_base 10.0099 Hz, Average Delay: 0.00108199 Max Delay: 0.0427322
Node: /laser_broadcaster 19.9936 Hz, Average Delay: -0.0931322 Max Delay: 0
Node: /slam_gmapping 20.0204 Hz, Average Delay: -0.0422399 Max Delay: 0

I have been also checking my robot's node and the only suspicious thing i saw was:

[DEBUG] Socket 15 closed with (ERR|HUP|NVAL) events 24: Broken pipe

Any clue?

edit retag flag offensive close merge delete

Comments

Is this all running on the same computer? Do you get the same net delay behavior when checking between /base_link and /odom?
Eric Perko gravatar image Eric Perko  ( 2011-05-04 05:46:56 -0500 )edit
Hi Eric. Only rviz is running in a separate PC. I tested the net delay between /base_link and /odom and it is also increasing slowly but it doesn't send any exception.
jsogorb gravatar image jsogorb  ( 2011-05-05 00:09:52 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2011-05-11 03:46:55 -0500

I answer myself. I fixed just updating the odometry information slowier. It was a hardware requirement.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2011-05-04 05:12:43 -0500

Seen: 313 times

Last updated: May 11 '11