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.
TullyOn Mon, Apr 26, 2010 at 1:42 PM, David Lu!! <davidvlu@gmail.com> 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,EitanOn Thu, Apr 22, 2010 at 11:00 AM, David Lu!! <davidvlu@gmail.com> wrote:
Map->odom 10.245 HzOdom->Base 10.209 HzBase->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 <gerkey@willowgarage.com> wrote:
On Wed, Apr 21, 2010 at 6:11 PM, David Lu!! <davidvlu@gmail.com> wrote:hi David,
> 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?
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.
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