I think I may have found the problem. The messages are being sent through
the below method in AMCL (confirmed by printing debug messages)


void
AmclNode::initialPoseReceivedOld(const
geometry_msgs::PoseWithCovarianceStampedConstPtr& msg)
{
  // Support old behavior, where null frame ids were accepted.
  if(msg->header.frame_id == "")
  {
    ROS_WARN("Received initialpose message with header.frame_id == "".
 This behavior is deprecated; you should always set the frame_id");
    initialPoseReceived(msg);
  }
}

However, the messages are not being passed on to initialPoseRecieved
since their frame is not "".


Should this code read like this instead...

void


AmclNode::initialPoseReceivedOld(const
geometry_msgs::PoseWithCovarianceStampedConstPtr& msg)
{
  // Support old behavior, where null frame ids were accepted.
  if(msg->header.frame_id == "")
  {
    ROS_WARN("Received initialpose message with header.frame_id == "".
 This behavior is deprecated; you should always set the frame_id");

  }


  initialPoseReceived(msg);

}



On Fri, Apr 16, 2010 at 6:33 PM, Dan Lazewatsky
<lazewatskyd@cse.wustl.edu>wrote:

>  Hi Eitan -
> I'm inclined to say that this isn't a network issue since lots of other
> things work, like streaming video from the robot using image_transport (and
> iwconfig shows really good link quality), but I'll try your suggestions next
> time I'm in the lab.
>
> Thanks,
> -Dan
>
>
> On 4/16/10 4:12 PM, Eitan Marder-Eppstein wrote:
>
> Dan,
>
> Those are strange problems to have. A hunch I have is that nav_view has
> dropped its TCP connection to the robot for one reason or another on certain
> topics. This happens to us sometimes when we're switching between being
> connected to our robots over ethernet to wireless or when we lose
> connectivity to the robot for long periods of time. I'd be curious about a
> few things:
>
> 1) Can you get things to start displaying in nav_view by running the
> following command:
>      rosrun topic_tools relay [missing_topic_name] [missing_topic_name]
>     This will re-advertise the topic and cause nav_view to refresh its TCP
> connections.
>
> 2) Are you sure that the robot can connect to the machine that's running
> nav_view? Have you been running rostopic echo on the robot itself? Or on the
> local machine?
>
> 3) If you use rviz, do you see the same kind of problems. If this is a
> network issue, I'd expect you to see the same problems, but it'd be useful
> to know.
>
> Hopefully this helps or we at least find out more about what's going on.
>
> Hope all is well,
>
> Eitan
>
> On Fri, Apr 16, 2010 at 1:54 PM, Dan Lazewatsky <lazewatskyd@cse.wustl.edu
> > wrote:
>
>> Hi all -
>> We've been trying to get the nav stack running on one of our robots and
>> are having some frustrating and not totally reproducible problems. Nav
>> is setup from config files that I got working on an erratic and have
>> modified for this robot. When I start up nav_view after getting amcl,
>> move_base and the like going, most of the time I don't see any laser
>> scan, inflated obstacles etc. in nav_view and using Set Pose doesn't do
>> anything. move_base/local_costmap/obstacles is publishing data, and
>> rxgraph shows it connected to nav_view. When I use Set Pose, I can see
>> the message getting sent off, but the new pose is not reflected in
>> nav_view. Sometimes, I'll see the inflated obstacles in nav_view, but
>> once the map shows up they disappear.
>>
>> Any help would be much appreciated,
>> -Dan
>> _______________________________________________
>> ros-users mailing list
>> ros-users@code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>>
>
>
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