Hi
I am trying to get navigation to run on my robot. To do this I am currently trying to get AMCL to work on ROS kinetic (ubuntu 16.04 Xenial).
My setup consists of 3 machines (of which 2 are relevant). I have:
- My server: which is running a roscore, amcl, robot control software etc
- A raspberry Pi 3 with a RPLidar A3 connected running the lidar ros pacakge ''
- A virtual machine running Ubuntu 16.04 on my computer which is used to run GUI's Rviz, rqt_tf_tree, ...
Data can be published and received from all machines so I think this is working (I set the ROS_MASTER_URI, ROS_HOSTNAME and ROS_IP variables and I edited the /etc/hosts file)
The lidar works and publishes data correctly (confirmed in Rviz and through rostopic echo).
However AMCL gives the following error every 15 seconds:
[ WARN] [1551364654.979541753]: No laser scan received (and thus no pose updates have been published) for 1551364654.979506 seconds. Verify that data is being published on the /rplidar topic.
I do not get the error when using a different laserscan (the one from the robot instead of the RPLidar for instance).
I have tried letting the lidar publish to the base_footprint frame directly as well as to a separate 'laser' fixed frame for which I then run:
rosrun tf static_transform_publisher 0 0 0 0 0 0 1.0 base_footprint laser 50
Running roswtf on the server machine does not yield anything useful (only some unconnected topics).
Running it on the Raspberry does however:
WARNING Received out-of-date/future transforms:
* receiving transform from [/naoqi_driver_node] that differed from ROS time by 86.070399184s
* receiving transform from [/static_transform_publisher_1551361858545724424] that differed from ROS time by 86.129054226s
The same info is given when i run roswtf from the virtual box machine.
A screenshot of rqt_tf_tree is below:
And output of `rosrun tf tf_echo base_footprint laser`:
At time 1551365866.147
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
in RPY (radian) [0.000, -0.000, 0.000]
in RPY (degree) [0.000, -0.000, 0.000]
At time 1551365866.898
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
in RPY (radian) [0.000, -0.000, 0.000]
in RPY (degree) [0.000, -0.000, 0.000]
At time 1551365867.899
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
in RPY (radian) [0.000, -0.000, 0.000]
in RPY (degree) [0.000, -0.000, 0.000]
I am totally at a loss so any help would be greatly appreciated
Regards
Christof
↧