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How to use humanoid_localization

I am trying to run the humanoid localization project on link text

roslaunch humanoid_localization nao_localization_laser.launch

But the following error message is printed on the terminal:

core service [/rosout] found
process[humanoid_localization-1]: started with pid [4098]
[ INFO] [1447810613.317279900]: Requesting the map from /humanoid_localization/octomap_binary...
[ INFO] [1447810614.304959313]: Occupancy map initialized with 1346605 nodes (18.70 x 5.70 x 19.05 m), 0.050000 m res.
Writing 428117 nodes to output stream...[ INFO] [1447810614.546354121]: Using 4 threads in RaycastingModel
[ WARN] [1447810614.556811824]: Frame ID of "initialpose" () is different from the global frame map
[ INFO] [1447810614.561534213]: Pose reset around mean (2.000000 2.000000 0.310000)
[ WARN] [1447810614.564828378]: Failed to subtract base to odom transform, will not publish pose estimate: "odom" passed to lookupTransform argument target_frame does not exist.
[ INFO] [1447810614.565200857]: Initialization of 500 particles took 0.00848601s (=1.6972e-05s/particle)
[ INFO] [1447810614.574781159]: NaoLocalization initialized with 500 particles.

Could anyone help me ? Thank you very much !