Hi,
I am working with a real *kuka* *youbot* robot. When I run AMCL I get constantly the following warning and error:
[WARN] [1531475915.405190988]: Failed to compute odom pose, skipping scan (Lookup would require extrapolation into the future. Requested time 1531475915.373467473 but the latest data is at time 1531475915.371227514, when looking up transform from frame [base_link] to frame [odom])
[ERROR] [1531475915.405592384]: Couldn't determine robot's pose associated with laser scan
When I launch Rviz and set the initial pose with "2D Pose Estimate", /initialpose topic echo's the following:
header:
seq: 0
stamp:
secs: 1531476085
nsecs: 404504998
frame_id: "map"
pose:
pose:
position:
x: -0.121083259583
y: -0.0682992935181
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.00537968781778
w: 0.999985529375
covariance: [0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891945200942]
And in the terminal running AMCL appears:
[ INFO] [1531476085.547250607]: Setting pose (1531476085.547161): -0.121 -0.068 0.011
But after that it continues throwing same warning and error mentioned before.
I can not attach TF tree, but it is: map -> odom -> base_footprint -> base_link -> ...And TF transformations are working right at a rate, respectively in those cases, (starting with map -> odom) of: 21.609, 42.11, 50.981.
Here are the results of tf_monitor:
RESULTS: for all Frames
Frames:
Frame: /camera_depth_frame published by unknown_publisher Average Delay: -0.2982 Max Delay: 0
Frame: /camera_depth_optical_frame published by unknown_publisher Average Delay: -0.297965 Max Delay: 0
Frame: /camera_rgb_frame published by unknown_publisher Average Delay: -0.297891 Max Delay: 0
Frame: /camera_rgb_optical_frame published by unknown_publisher Average Delay: -0.297604 Max Delay: 0
Frame: arm_link_0 published by unknown_publisher Average Delay: -0.696617 Max Delay: 0
Frame: arm_link_1 published by unknown_publisher Average Delay: -0.191182 Max Delay: 0
Frame: arm_link_2 published by unknown_publisher Average Delay: -0.19118 Max Delay: 0
Frame: arm_link_3 published by unknown_publisher Average Delay: -0.191179 Max Delay: 0
Frame: arm_link_4 published by unknown_publisher Average Delay: -0.191179 Max Delay: 0
Frame: arm_link_5 published by unknown_publisher Average Delay: -0.191178 Max Delay: 0
Frame: base_footprint published by unknown_publisher Average Delay: -0.190222 Max Delay: 0
Frame: base_laser_front_link published by unknown_publisher Average Delay: -0.696646 Max Delay: 0
Frame: base_link published by unknown_publisher Average Delay: -0.696637 Max Delay: 0
Frame: camera_link published by unknown_publisher Average Delay: -0.29782 Max Delay: 0
Frame: caster_link_bl published by unknown_publisher Average Delay: -0.189073 Max Delay: 0
Frame: caster_link_br published by unknown_publisher Average Delay: -0.189071 Max Delay: 0
Frame: caster_link_fl published by unknown_publisher Average Delay: -0.18907 Max Delay: 0
Frame: caster_link_fr published by unknown_publisher Average Delay: -0.189069 Max Delay: 0
Frame: gripper_finger_link_l published by unknown_publisher Average Delay: -0.191177 Max Delay: 0
Frame: gripper_finger_link_r published by unknown_publisher Average Delay: -0.191176 Max Delay: 0
Frame: gripper_palm_link published by unknown_publisher Average Delay: -0.696653 Max Delay: 0
Frame: odom published by unknown_publisher Average Delay: -0.269718 Max Delay: 0
Frame: plate_link published by unknown_publisher Average Delay: -0.696657 Max Delay: 0
Frame: wheel_link_bl published by unknown_publisher Average Delay: -0.189068 Max Delay: 0
Frame: wheel_link_br published by unknown_publisher Average Delay: -0.189066 Max Delay: 0
Frame: wheel_link_fl published by unknown_publisher Average Delay: -0.189065 Max Delay: 0
Frame: wheel_link_fr published by unknown_publisher Average Delay: -0.189064 Max Delay: 0
All Broadcasters:
Node: unknown_publisher 199.909 Hz, Average Delay: -0.354249 Max Delay: 0
I do not know if there is a problem with the difference in publishing rates between TF transform /odom ->...-> /base_link and AMCL request time of that transform... I am stucked and I do not know how to solve this problem. I would really appreciate any help. Thanks in advance!
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