The laser readings appear in the correct place, but the point cloud does not, which is why I figured that it amcl was not working. -David On Mon, Apr 26, 2010 at 4:29 PM, Tully Foote wrote: > David, > > The warning you are seeing does not mean that amcl is not working. If the > laser returns are showing up in the right place amcl is working. The > message is just a warning about an extra capability which is not necessary > for normal operation. I've opened a ticket for cleanup of that function, > but it shoudl be working fine. > https://code.ros.org/trac/ros-pkg/ticket/4032 > > The different in performance between computers suggests that you have a > timing offset between your comptuers. This also in indicated in the warning > you are recieving for I believe your timestamp from nav_view is in the > future. > > Tully > > > On Mon, Apr 26, 2010 at 1:42 PM, David Lu!! wrote: > >> So with all the transform publishers running on the robot, as well as the >> amcl and move base nodes, I am able to get the red outline and laser >> readings to appear in the correct place. However, setting the pose does not >> work for amcl, which spits out this error still. >> >> Failed to transform initial pose in time (You requested a transform that >> is 1.651 miliseconds in the past, >> but the most recent transform in the tf buffer is 16.967 miliseconds old. >> When trying to transform between /base and /map. >> ) >> >> >> >> On Sat, Apr 24, 2010 at 11:48 AM, Eitan Marder-Eppstein < >> eitan@willowgarage.com> wrote: >> >>> David, >>> >>> If any of the transform publishers are on a different machine from one >>> another... time synchronization between the computers becomes pretty >>> important. So, running localization on-board the robot is probably a good >>> idea. When you say that putting everything on the robot lead to some >>> success, do you mean that things are working, that you were just able to >>> lower the tolerance a little bit, or something else? You shouldn't need to >>> run nav_view off the robot... but the navigation stack should probably all >>> be running on-board for the best results. >>> >>> Hope all is well, >>> >>> Eitan >>> >>> >>> On Thu, Apr 22, 2010 at 11:00 AM, David Lu!! wrote: >>> >>>> Map->odom 10.245 Hz >>>> Odom->Base 10.209 Hz >>>> Base->Laser 30.203 Hz >>>> (according to view_frames) >>>> >>>> Odom->base is being published from the B21 node, which also publishes >>>> joint states, which go through an aggregator node to the >>>> robot_state_publisher node, which publishes base->laser. >>>> >>>> I should note, I had been running these tests with only the B21 node on >>>> the robot, and the rest running on a different machine. Putting everything >>>> on the robot did lead to some success. >>>> >>>> -David!! >>>> >>>> >>>> >>>> >>>> On Thu, Apr 22, 2010 at 9:13 AM, Brian Gerkey wrote: >>>> >>>>> On Wed, Apr 21, 2010 at 6:11 PM, David Lu!! >>>>> wrote: >>>>> >>>>> > tf view_frames shows everything connected. The most concerning part >>>>> is that >>>>> > the map->odom and odom->base transforms are 1.564 sec old. >>>>> > The problem remains that setting the pose in nav_view does not >>>>> actually >>>>> > change the pose. The laser scans are now showing up as obstacles >>>>> around the >>>>> > robot's footprint, but that footprint is in the wrong spot. I've >>>>> solved that >>>>> > by making transform_tolerance: 10 on the costmaps. That doesn't quite >>>>> seem >>>>> > like the right approach. How else can I speed up my tfs? >>>>> >>>>> hi David, >>>>> >>>>> How are you publishing the odom->base and base->laser transforms? If >>>>> one or both of them is being published too slowly, it could lead to >>>>> the problems that you're seeing. >>>>> >>>>> brian. >>>>> _______________________________________________ >>>>> ros-users mailing list >>>>> ros-users@code.ros.org >>>>> https://code.ros.org/mailman/listinfo/ros-users >>>>> >>>> >>>> >>>> _______________________________________________ >>>> ros-users mailing list >>>> ros-users@code.ros.org >>>> https://code.ros.org/mailman/listinfo/ros-users >>>> >>>> >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >>> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > > > -- > Tully Foote > Systems Engineer > Willow Garage, Inc. > tfoote@willowgarage.com > (650) 475-2827 > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >