[ros-users] reset_time in slam_gmapping

[eunchul Jeon]

Eltan

I appreciate your help.
I solved problem.
Thank you.


Eunchul

2010/11/19 Eitan Marder-Eppstein <eitan at willowgarage.com>

> Eunchul,
>
> It looks like the frame_id in your tf tree for your laser is called
> "base_laser" but the frame_id used in your laser scan message is just
> "laser."
>
> Also, publishing the transform between odom and base_footprint statically
> won't work for gmapping. You'll need an actual odometry source publishing to
> tf for gmapping to work.
>
> Hope this helps,
>
> Eitan
>
>
> On Thu, Nov 18, 2010 at 5:36 PM, eunchul Jeon <jsharp83 at gmail.com> wrote:
>
>> I appreciate your help.
>> I want to generate tf statically so I use static_transform_publisher
>> Attached file is generated using view_frames and following code is launch
>> file to generate tf.
>>
>> Thank you in advance your help.
>>
>> //////
>>
>> <launch>
>> <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster"
>> args="0 0 0 0 0 0 base_footprint base_link 100" />
>> <node pkg="tf" type="static_transform_publisher" name="link2_broadcaster"
>> args="0 0 1.0 0 0 0 base_link base_laser 100" />
>> <node pkg="tf" type="static_transform_publisher" name="link3_broadcaster"
>> args="0 0 0 0 0 0 odom base_footprint 100" />
>> </launch>
>>
>> //////
>>
>>
>> 2010/11/19 Eitan Marder-Eppstein <eitan at willowgarage.com>
>>
>> Eunchul Jeon,
>>>
>>> It seems likely that something is wrong in your tf tree when trying to
>>> transform points from the laser frame to the odometric frame. Can you use a
>>> tool like view_frames or tf_echo to find out what your tree looks like? In
>>> particular you should be able to run tf_echo laser odom successfully before
>>> expecting gmapping to work.
>>>
>>> Hope this helps,
>>>
>>> Eitan
>>>
>>> On Thu, Nov 18, 2010 at 5:01 AM, eunchul Jeon <jsharp83 at gmail.com>wrote:
>>>
>>>> Hi, I'm Eunchul Jeon,
>>>>
>>>> I saw following warning when I run the rosrun gmapping slam_gmapping
>>>> scan:=base_scan
>>>>
>>>> [ WARN] [1290084259.016741027]: Message from [/hokuyo_node] has a
>>>> non-fully-qualified frame_id [laser]. Resolved locally to [/laser].  This is
>>>> will likely not work in multi-robot systems.  This message will only print
>>>> once.
>>>> [ WARN] [1290084273.997493021]: MessageFilter [target=/odom ]: Dropped
>>>> 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier]
>>>> rosconsole logger to DEBUG for more information.
>>>>
>>>> and I ran the roswtf command, and saw following warning
>>>>
>>>> WARNING The following node subscriptions are unconnected:
>>>>  * /rviz_1290083985383805192:
>>>>    * /scan
>>>>    * /reset_time
>>>>  * /slam_gmapping:
>>>>    * /reset_time
>>>>  * /LaserListener:
>>>>    * /base_scan1
>>>>
>>>> Maybe I need to connect reset_time node but I can't find any information
>>>> about that.
>>>>
>>>> Thank you in advance your help.
>>>>
>>>> --
>>>> ================================================
>>>> Eunchul Jeon
>>>>
>>>> M.S. Student, Intelligent Systems and Neurobotics lab,
>>>> Dept. Computer Science, KAIST
>>>> Science town, Daejeon, 305-701, South Korea
>>>> TEL: 82 42 350 3580
>>>> E-mail: jsharp at kaist.ac.kr, jsharp83 at gmail.com
>>>> Homepage: http://isnl.kaist.ac.kr
>>>> ================================================
>>>>
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>>>>
>>>
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>>
>>
>> --
>> ================================================
>> Eunchul Jeon
>>
>> M.S. Student, Intelligent Systems and Neurobotics lab,
>> Dept. Computer Science, KAIST
>> Science town, Daejeon, 305-701, South Korea
>> TEL: 82 42 350 3580
>> E-mail: jsharp at kaist.ac.kr, jsharp83 at gmail.com
>> Homepage: http://isnl.kaist.ac.kr
>> ================================================
>>
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>
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-- 
================================================
Eunchul Jeon

M.S. Student, Intelligent Systems and Neurobotics lab,
Dept. Computer Science, KAIST
Science town, Daejeon, 305-701, South Korea
TEL: 82 42 350 3580
E-mail: jsharp at kaist.ac.kr, jsharp83 at gmail.com
Homepage: http://isnl.kaist.ac.kr
================================================
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