ahanaga's profile - activity

Hi all, I am using ir sensor and Hokuyo laser for navigation. I am using range_sensor_layer for ir sensor. The problem is when I publish the sensor_msgs/Range message and use the range_sensor_layer, I get the following error:

[ERROR] [1457576623.750078440]: Range sensor layer can't transform from odom to ir_ranger at 1457576623.464401

I am not able to see why am I getting this error as the tf tree is properly set up and there is a transformation from odom to ir_ranger:

costmap_common_params.yaml

obstacle_range: 7.0
raytrace_range: 7.0

footprint: [[0.40, 0.40], [0.40, -0.40], [-0.40, -0.40], [-0.40, 0.40]]
#robot_radius: 0.5
inflation_radius: 0.1

max_obstacle_height: 0.3
min_obstacle_height: 0.0

obstacle_layer:
   observation_sources: scan
   scan: 
      data_type: LaserScan
      topic: scan 
      marking: true
      clearing: true
      expected_update_rate: 0.0
      observation_persistence: 0.0

range_sensor_layer:
   ns: ""
   topics: ["ir_ranger_topic"]
   no_readings_timeout: 0.0
   clear_threshold: 2.0
   mark_threshold: 8.0
   clear_on_max_reading: true

local_costmap_params.yaml

local_costmap:
   global_frame: /odom
   robot_base_frame: /base_link
   update_frequency: 3.0
   publish_frequency: 1.0
   static_map: false
   rolling_window: true
   width: 6.0
   height: 6.0
   resolution: 0.05
   transform_tolerance: 1.0

   plugins:
     - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
     - {name: range_sensor_layer, type: "range_sensor_layer::RangeSensorLayer"}

global_costmap_params.yaml

global_costmap:
   global_frame: /map
   robot_base_frame: /base_link
   map_type: costmap
   update_frequency: 3.0
   publish_frequency: 1.0
   static_map: true
   rolling_window: false
   resolution: 0.05
   transform_tolerance: 0.5

   plugins:
     - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
     - {name: range_sensor_layer, type: "range_sensor_layer::RangeSensorLayer"}

robot.urdf

<?xml version="1.0"?>  
<robot name="gobot">  
  <link name="base_link">  
    <visual>  
      <geometry>  
        <box size="0.629 .500 .097"/>  
      </geometry>  
      <material name="white">  
         <color rgba="1 1 1 .5"/>  
    </material>  
    </visual>  
  </link>  

  <link name="base_laser">
    <visual>
      <geometry>
        <box size="0.00 0.05 0.06" />
      </geometry>
      <material name="Green" />
    </visual>
    <inertial>
      <mass value="0.000001" />
      <origin xyz="0 0 0" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>

  <joint name="laser_to_link" type="fixed">
    <origin xyz="0.0 0.00 0.0" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="base_laser" />
  </joint>

  <link name="ir_ranger">
    <visual>
      <geometry>
        <box size="0.00 0.05 0.06" />
      </geometry>
      <material name="Green" />
    </visual>
    <inertial>
      <mass value="0.000001" />
      <origin xyz="0 0 0" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>

  <joint name="rear_link" type="fixed">
    <origin xyz="-0.35 0.00 0.0" rpy="0 0 3.14" />
    <parent link="base_link" />
    <child link="ir_ranger" />
  </joint>

</robot>

launch

<?xml version="1.0"?>
<launch>

  <arg name="model" default="$(find beginner_tutorials)/urdf/robot.urdf"/>
  <arg name="gui" default="False" />
  <param name="robot_description" textfile="$(arg model)" />
  <param name="use_gui" value="$(arg gui)"/>

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
    <param name="publish_frequency" type="double" value="5.0" />
  </node>
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" >
    <param name="publish_frequency" type="double" value="5.0" />
  </node>

  <node pkg="hector_mapping" type="hector_mapping" name="hector_height_mapping" output="screen">
    <param name="scan_topic" value="scan" />
    <param name="map_frame" value="map" />
    <param name="base_frame" value="base_link" />
    <param name ...