[ros-users] problems with nav_view / nav stack

[David Lu!!]

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 <tfoote at willowgarage.com>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!! <davidvlu at 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 at 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!! <davidvlu at gmail.com> 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 <gerkey at willowgarage.com>wrote:
>>>>
>>>>> On Wed, Apr 21, 2010 at 6:11 PM, David Lu!! <davidvlu at gmail.com>
>>>>> 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
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>>>>> https://code.ros.org/mailman/listinfo/ros-users
>>>>>
>>>>
>>>>
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>>
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>
>
> --
> Tully Foote
> Systems Engineer
> Willow Garage, Inc.
> tfoote at willowgarage.com
> (650) 475-2827
>
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