No subject


Tue Mar 2 17:14:18 UTC 2010


1) Odometry
2) Odometry tf
3) laser tf (base_link to base_laser)
4) laserscan

I'm not using a static map, so I removd amcl from move_base.launch.
When i start the move_base.launch file, i get the following:

[ INFO] 1271252548.078700000: Subscribed to Topics: laser_scan_sensor
[ INFO] 1271252548.178918000: MAP SIZE: 199, 199
[ INFO] 1271252548.185354000: Subscribed to Topics: laser_scan_sensor
[ WARN] 1271252563.370080000: MessageNotifier [topic=scan,
target=/base_laser /base_laser ]: Dropped 100.00% of messages so far. Please
turn the [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for
more information.

Using rxloggerlevel to debug, here's the output:

[DEBUG] 1271251959.320831000: MessageNotifier [topic=scan, target=/odom
/base_laser ]: Added message in frame laser at time 1271251959.264, count
now 50
[DEBUG] 1271251959.320973000: MessageNotifier [topic=scan, target=/odom
/base_laser ]: Removed oldest message because buffer is full, count now 50
(frame_id=laser, stamp=1271251958.043920)

[DEBUG] 1271251959.599588000: MessageNotifier [topic=scan,
target=/base_laser /base_laser ]: Successful Transforms: 0, Failed
Transforms: 4051196, Discarded due to age: 0, Transform messages received:
67611, Messages received: 26918, Total dropped: 26868

Also, to view the laser scan image in rviz, i get the following error:

TOPIC : No messages received
Transform[sender=/laser] : For frame [laser]: Frame [laser] does not exist


Any suggestions?

On Wed, Apr 14, 2010 at 1:01 AM, Eitan Marder-Eppstein <
eitan at willowgarage.com> wrote:

> Hitesh,
>
> If you're trying to run the navigation stack on your own robot, I'd suggest
> reading the following tutorial first,
> http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/, as it will
> explain how the pieces of the navigation stack work and how you'll need to
> configure your robot.
>
> From the errors you listed, it looks like your robot may not be publishing
> odometry information to the navigation stack. Also, amcl will not work
> without a static map... so that's expected.
>
> Hopefully, the tutorial will help, feel free to post again if you have
> other questions,
>
> Eitan
>
> On Tue, Apr 13, 2010 at 5:49 AM, hitesh dhiman <
> hitesh.dhiman.1988 at gmail.com> wrote:
>
>> Hi all,
>> I've been trying to run the navigation stack. However, upon running
>> move_base.launch, i get the following message:
>>
>> [ WARN] 1271162502.543875000: Costmap2DROS transform timeout. Current
>> time: 1271162502.5438, global_pose stamp: 1271162501.8677, tolerance: 0.3000
>>
>> I tried changing the tolerance value to 1. move_base.launch starts with
>> the following:
>> [ INFO] 1271162733.968657000: Subscribed to Topics: laser_scan_sensor
>> [ INFO] 1271162734.066727000: MAP SIZE: 199, 199
>>
>> A second later, i start getting these messages:
>>
>> [ WARN] 1271162749.245438000: MessageNotifier [topic=scan, target=/odom
>> /base_laser ]: Dropped 100.00% of messages so far. Please turn the
>> [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for more
>> information.
>>
>> rxconsole gives the following:
>> Request for map failed, trying again...  Warn /amcl
>> This could be because i'm not using any static map. Even so, move_base is
>> not publishing any messages out.
>>
>> Any help would be appreciated. I'm not able to figure out where the
>> problem is.
>>
>> --
>> Regards,
>> Hitesh Dhiman
>> Electrical Engineering
>> National University of Singapore
>>
>>
>> ------------------------------------------------------------------------------
>> Download Intel&#174; Parallel Studio Eval
>> Try the new software tools for yourself. Speed compiling, find bugs
>> proactively, and fine-tune applications for parallel performance.
>> See why Intel Parallel Studio got high marks during beta.
>> http://p.sf.net/sfu/intel-sw-dev
>> _______________________________________________
>> ros-users mailing list
>> ros-users at lists.sourceforge.net
>> https://lists.sourceforge.net/lists/listinfo/ros-users
>>
>> _______________________________________________
>> ros-users mailing list
>> ros-users at code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>>
>>
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>


-- 
Regards,
Hitesh Dhiman
Electrical Engineering
National University of Singapore

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Content-Type: text/html; charset=ISO-8859-1
Content-Transfer-Encoding: quoted-printable

Hi,<div>actually i did use the tutorial to configure the robot. My setup is=
 almost the same as the files listed in the tutorial, except that the costm=
ap configuration is set to a differential robot.</div><div>From what i coul=
d see using rxgraph, i&#39;m getting the following messages into move_base:=
</div>
<div><br></div><div>1) Odometry</div><div>2) Odometry tf=A0</div><div>3) la=
ser tf (base_link to base_laser)</div><div>4) laserscan</div><div><br></div=
><div>I&#39;m not using a static map, so I removd amcl from move_base.launc=
h.</div>
<div>When i start the move_base.launch file, i get the following:</div><div=
><br></div><div><div>[ INFO] 1271252548.078700000: Subscribed to Topics: la=
ser_scan_sensor</div><div>[ INFO] 1271252548.178918000: MAP SIZE: 199, 199<=
/div>
<div>[ INFO] 1271252548.185354000: Subscribed to Topics: laser_scan_sensor<=
/div><div>[ WARN] 1271252563.370080000: MessageNotifier [topic=3Dscan, targ=
et=3D/base_laser /base_laser ]: Dropped 100.00% of messages so far. Please =
turn the [ros.costmap_2d.message_notifier] rosconsole logger to DEBUG for m=
ore information.</div>
</div><div><br></div><div>Using rxloggerlevel to debug, here&#39;s the outp=
ut:</div><div><br></div><div><div>[DEBUG] 1271251959.320831000: MessageNoti=
fier [topic=3Dscan, target=3D/odom /base_laser ]: Added message in frame la=
ser at time 1271251959.264, count now 50</div>
<div>[DEBUG] 1271251959.320973000: MessageNotifier [topic=3Dscan, target=3D=
/odom /base_laser ]: Removed oldest message because buffer is full, count n=
ow 50 (frame_id=3Dlaser, stamp=3D1271251958.043920)</div></div><div><br></d=
iv><div>
<div>[DEBUG] 1271251959.599588000: MessageNotifier [topic=3Dscan, target=3D=
/base_laser /base_laser ]: Successful Transforms: 0, Failed Transforms: 405=
1196, Discarded due to age: 0, Transform messages received: 67611, Messages=
 received: 26918, Total dropped: 26868</div>
</div><div><br></div><div>Also, to view the laser scan image in rviz, i get=
 the following error:</div><div><br></div><div>TOPIC : No messages received=
</div><div>Transform[sender=3D/laser] : For frame [laser]: Frame [laser] do=
es not exist</div>
<div><br></div><div><br></div><div>Any suggestions?</div><div><br><div clas=
s=3D"gmail_quote">On Wed, Apr 14, 2010 at 1:01 AM, Eitan Marder-Eppstein <s=
pan dir=3D"ltr">&lt;<a href=3D"mailto:eitan at willowgarage.com">eitan at willowg=
arage.com</a>&gt;</span> wrote:<br>
<blockquote class=3D"gmail_quote" style=3D"margin:0 0 0 .8ex;border-left:1p=
x #ccc solid;padding-left:1ex;">Hitesh,<br><br>If you&#39;re trying to run =
the navigation stack on your own robot, I&#39;d suggest reading the followi=
ng tutorial first, <a href=3D"http://www.ros.org/wiki/navigation/Tutorials/=
RobotSetup/" target=3D"_blank">http://www.ros.org/wiki/navigation/Tutorials=
/RobotSetup/</a>, as it will explain how the pieces of the navigation stack=
 work and how you&#39;ll need to configure your robot.<br>

<br>From the errors you listed, it looks like your robot may not be publish=
ing odometry information to the navigation stack. Also, amcl will not work =
without a static map... so that&#39;s expected.<br><br>Hopefully, the tutor=
ial will help, feel free to post again if you have other questions,<br>

<br>Eitan<br><br><div class=3D"gmail_quote"><div><div></div><div class=3D"h=
5">On Tue, Apr 13, 2010 at 5:49 AM, hitesh dhiman <span dir=3D"ltr">&lt;<a =
href=3D"mailto:hitesh.dhiman.1988 at gmail.com" target=3D"_blank">hitesh.dhima=
n.1988 at gmail.com</a>&gt;</span> wrote:<br>
</div></div><blockquote class=3D"gmail_quote" style=3D"border-left:1px soli=
d rgb(204, 204, 204);margin:0pt 0pt 0pt 0.8ex;padding-left:1ex"><div><div><=
/div><div class=3D"h5">
Hi all,<div>I&#39;ve been trying to run the navigation stack. However, upon=
 running move_base.launch, i get the following message:</div><div><br></div=
><div><div>[ WARN] 1271162502.543875000: Costmap2DROS transform timeout. Cu=
rrent time: 1271162502.5438, global_pose stamp: 1271162501.8677, tolerance:=
 0.3000</div>


<div><br></div><div>I tried changing the tolerance value to 1. move_base.la=
unch starts with the following:</div><div><div>[ INFO] 1271162733.968657000=
: Subscribed to Topics: laser_scan_sensor</div><div>[ INFO] 1271162734.0667=
27000: MAP SIZE: 199, 199</div>


</div><div><br></div><div>A second later, i start getting these messages:</=
div><div><br></div><div><div><div>[ WARN] 1271162749.245438000: MessageNoti=
fier [topic=3Dscan, target=3D/odom /base_laser ]: Dropped 100.00% of messag=
es so far. Please turn the [ros.costmap_2d.message_notifier] rosconsole log=
ger to DEBUG for more information.</div>


</div></div><div><br></div><div>rxconsole gives the following:</div><div>Re=
quest for map failed, trying again... =A0Warn /amcl</div><div>This could be=
 because i&#39;m not using any static map. Even so, move_base is not publis=
hing any messages out.</div>


<div><br></div><div>Any help would be appreciated. I&#39;m not able to figu=
re out where the problem is.</div><br>-- <br>Regards,<br>Hitesh Dhiman<br>E=
lectrical Engineering<br>National University of Singapore<br>
</div>
<br></div></div>-----------------------------------------------------------=
-------------------<br>
Download Intel&amp;#174; Parallel Studio Eval<br>
Try the new software tools for yourself. Speed compiling, find bugs<br>
proactively, and fine-tune applications for parallel performance.<br>
See why Intel Parallel Studio got high marks during beta.<br>
<a href=3D"http://p.sf.net/sfu/intel-sw-dev" target=3D"_blank">http://p.sf.=
net/sfu/intel-sw-dev</a><br>_______________________________________________=
<br>
ros-users mailing list<br>
<a href=3D"mailto:ros-users at lists.sourceforge.net" target=3D"_blank">ros-us=
ers at lists.sourceforge.net</a><br>
<a href=3D"https://lists.sourceforge.net/lists/listinfo/ros-users" target=
=3D"_blank">https://lists.sourceforge.net/lists/listinfo/ros-users</a><br>
<br>_______________________________________________<br>
ros-users mailing list<br>
<a href=3D"mailto:ros-users at code.ros.org" target=3D"_blank">ros-users at code.=
ros.org</a><br>
<a href=3D"https://code.ros.org/mailman/listinfo/ros-users" target=3D"_blan=
k">https://code.ros.org/mailman/listinfo/ros-users</a><br>
<br></blockquote></div><br>
<br>_______________________________________________<br>
ros-users mailing list<br>
<a href=3D"mailto:ros-users at code.ros.org">ros-users at code.ros.org</a><br>
<a href=3D"https://code.ros.org/mailman/listinfo/ros-users" target=3D"_blan=
k">https://code.ros.org/mailman/listinfo/ros-users</a><br>
<br></blockquote></div><br><br clear=3D"all"><br>-- <br>Regards,<br>Hitesh =
Dhiman<br>Electrical Engineering<br>National University of Singapore<br>
</div>

--001636c9268d07c804048432a3d0--


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