[ros-users] Costmap_2d_tutorials without stageros?

[Tully Foote]

Dan,
rviz has a feature which will clear all data and buffers if it detects a
backwards jump in time.  I expect that your playback is looping and that you
will get this brief error when time jumps backwards.  As far as I know
that's the only way the grid cell counter would get reset.

The tf error could be caused by a publisher publishing a wrong parent or a
transform backwards.  But the above sounds more likely from your
description.

Tully

On Mon, Apr 19, 2010 at 1:57 PM, Daniel Maier <
maierd at informatik.uni-freiburg.de> wrote:

> On Mon, 19 Apr 2010 21:07:22 +0200, Tully Foote <tfoote at willowgarage.com>
> wrote:
>
> > Dan,
> > Generating the clock message from the original carmen logs sounds like
> > the
> > right thing to do in this case.  The very old messages will be tossed
> > out on
> > receipt in the costmap_2d tf::MessageFilters because they are way out of
> > date.
> >
> > To publish time it's simpy a roslib/Clock message on the /clock topic
> > it's
> > documented at http://www.ros.org/wiki/Clock
> >
> > Tully
> >
>
> Thanks alot, that did the trick! Costmap_2d calls the callback functions
> and I can see the published map in rviz.
> I only got an issue with displaying the map in rviz. Every few seconds the
> grid cells get cleared and redrawn.
> In the exact moment the message counter for the grid cells is reset to 0
> and the .Global Status displays the following error:
> For frame [/Base_link]: No transform to fixed frame [/odom].  TF error:
> [Could not find a connection between '/odom' and '/Base_link' because they
> are not part of the same tree.Tf has two or more unconnected trees.]
> Than the grid cells reappear.
> Did I miss something?
>
> Thanks for your help!
> Dan
>
>
>
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-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827
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