[ros-users] sensor origin
safdar_zaman
safdaraslam at yahoo.com
Tue Aug 31 15:09:22 UTC 2010
Hi Enea Scioni,
Thanks for so detailed answer: I followed your instruction and just
experimented again, following are the findings:
RosAria:
First RosAria is a node which enables us to move Real Robot (poineer P3DX),
It subscribes a topic /cmd_vel with geometry_msgs/Twist message.
some code from RosAria:
{
pos = robot->getPose();
tf::poseTFToMsg(tf::Pose(tf::Quaternion(pos.getTh()*M_PI/180, 0, 0),
tf::Vector3(pos.getX(), pos.getY(), 0)),
position.pose.pose);
position.twist.twist.linear.x = robot->getVel();
position.twist.twist.angular.z = robot->getRotVel()*M_PI/180;
position.header.frame_id = "odom";
position.header.stamp = ros::Time::now();
pose_pub.publish(position);
ROS_INFO("rcv: %f %f %f p.x: %f p.y: %f", position.header.stamp.toSec(),
(double) position.twist.twist.linear.x,
(double) position.twist.twist.angular.z, (double) pos.getX(), (double)
pos.getY());
ros::Duration(1e-3).sleep();
tf::Quaternion laserQ;
laserQ.setRPY(0.0, 0.0, pos.getTh());
tf::Transform txLaser = tf::Transform(laserQ,tf::Point(0.05, 0.0,
0.15));
tf.sendTransform(tf::StampedTransform(txLaser, ros::Time::now(),
"base_link", "laser"));//"base_laser_link"));
tf::Transform txIdentity(tf::createIdentityQuaternion(),
tf::Point(0.0, 0.0, 0.0));
tf.sendTransform(tf::StampedTransform(txIdentity,
ros::Time::now(),
"base_footprint",
"base_link"));
tf::Quaternion odomQ;
tf::quaternionMsgToTF(position.pose.pose.orientation, odomQ);
tf::Transform txOdom(odomQ, tf::Point((double) pos.getX()/1000.0,
(double) pos.getY()/1000.0, pos.getTh()/*0.0*/));
tf.sendTransform(tf::StampedTransform(txOdom, ros::Time::now() ,"odom",
"base_footprint"));
clockMsg.clock = ros::Time::now();
clock_pub.publish(clockMsg);
}
I run this node using [$rosrun ROSARIA RosAria _port:=/dev/ttyUSB0] then
this node starts and subscribes the topic /cmd_vel. Then I run my own made
node [$rosrun ROSARIA rob_key] which publishes geometry_msgs/Twist taking
commands by arrow keys of keyboard.
Frames:
I checked frames by [$rosrun tf view_frames], the frame's sequence is
correct and quite according to how you said, i.e.
with names and sequence : /map->/odom->/base_footprint->base_link->/laser
shown in frames.pdf.
map->odom : Broadcaster: /amcl , Average rate: 4.890 Hz, Most recent
transform: 0.155 sec old, Buffer length: 4.908 sec
odom->base_footprnt:Broadcaster:/RosAria,Average rate:10.204 Hz,Most recent
transform: 0.063 sec old,Buffer length: 4.900 sec
base_footprnt->base_link:same as above for odom->base_footprint
base_link->laser:same as above for base_footprint-> base_link
Sequence of the nodes I run:
1.$roscore
2.$rosrun ROSARIA RosAria _port:=/dev/ttyUSB0
3.$rosrun sicktoolbox_wrapper sicklms _port:=/dev/ttyUSB1 _baud:=38400
get message DataStream Received.
4.$roslaunch amcl_diff.launch from amcl/axamples> directory.
get message
[ WARN] [1283264052.917100260]: Request for map failed; trying again...
[ WARN] [1283264053.418347837]: Request for map failed; trying again...
[ WARN] [1283264053.926562217]: Request for map failed; trying again...
[ INFO] [1283264054.545362657]: Received a 4000 X 4000 map @ 0.050 m/pix
[ INFO] [1283264054.757590054]: map returned
[ INFO] [1283264054.766719775]: Initializing likelihood field model; this
can take some time on large maps...
[ INFO] [1283264055.174108077]: Done initializing likelihood field model.
[ WARN] [1283264055.247433315]: Message from [/sicklms] has a
non-fully-qualified frame_id [laser]. Resolved locally to [/laser]. This is
will likely not work in multi-robot systems. This message will only print
once.
[ WARN] [1283264093.896718060]: Failed to transform initial pose in time
(You requested a transform that is 0.065 miliseconds in the past,
but the most recent transform in the tf buffer is 95.781 miliseconds old.
When trying to transform between /map and /base_link.
)
[ INFO] [1283264093.896820238]: Setting pose (1283264093.896801): 0.011
-0.010 0.000
5.$rosrun map_server map_server map.yaml
get message:
[ INFO] [1283264053.796235254]: Loading map from image "./map.pgm"
[ INFO] [1283264054.084837439]: Read a 4000 X 4000 map @ 0.050 m/cell
[ INFO] [1283264054.449655659]: Sending map
6.$rosrun rviz rviz
get message:
[ INFO] [1283264081.753891609]: Loading general config from
[/home/safdar/.rviz/config]
[ INFO] [1283264081.754240117]: Loading display config from
[/home/safdar/.rviz/display_config]
[ INFO] [1283264093.894115354]: Setting pose: 0.011 -0.010 0.000
[frame=/map]
AND
map.yaml contains:
[image: map.pgm
resolution: 0.050000
origin: [-100.000000, -100.000000, 0.000000]
#origin: [0.000000, 0.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196]
THEN I MOVE ROBOT:
Moving Robot almost 1 meter in forward direction:
Starting till ending 1 meter motion of Robot ,I saved data from topics
/odom, /scan, /amcl_pose and /particlecloud as given below:
=====================================
TOPIC /amcl_pose:
---
header:
seq: 2
stamp:
secs: 1283264215
nsecs: 511374608
frame_id: map
pose:
pose:
position:
x: 0.247589351646
y: -0.014679411528
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.00336333731185
w: 0.999994343965
covariance: [0.29763234232004948, 0.0025907719733360285, 0.0, 0.0, 0.0,
0.0, 0.0025907719733360285, 0.24746057733576973, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.083540103401309157, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 3
stamp:
secs: 1283264216
nsecs: 151775071
frame_id: map
pose:
pose:
position:
x: 0.497609492943
y: 0.0093983678752
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.00909101066835
w: 0.999958675909
covariance: [0.33799146489379533, 0.010049943074077266, 0.0, 0.0, 0.0,
0.0, 0.010049943074077266, 0.27290467320518264, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.086906835608134989, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 4
stamp:
secs: 1283264216
nsecs: 579240571
frame_id: map
pose:
pose:
position:
x: 0.675671959326
y: 0.0277861157726
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.012026257738
w: 0.999927681947
covariance: [0.36283060340373735, 0.014118143333576845, 0.0, 0.0, 0.0,
0.0, 0.014118143333576845, 0.30805645206476079, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.099034657680711305, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 5
stamp:
secs: 1283264217
nsecs: 219611415
frame_id: map
pose:
pose:
position:
x: 0.843883973475
y: 0.047129095818
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0122639546581
w: 0.99992479488
covariance: [0.39540569106077028, 0.0092167690246466108, 0.0, 0.0, 0.0,
0.0, 0.0092167690246466108, 0.36344868131336877, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.11715264662452711, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
=========================
TOPIC /odom:
header:
seq: 1945
stamp:
secs: 1283264186
nsecs: 134936757
frame_id: odom
child_frame_id: ''
pose:
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 1946
stamp:
secs: 1283264186
nsecs: 234943671
frame_id: odom
child_frame_id: ''
pose:
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 1947
stamp:
secs: 1283264186
nsecs: 334954766
frame_id: odom
child_frame_id: ''
pose:
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
.
.
.
header:
seq: 2365
stamp:
secs: 1283264228
nsecs: 150935090
frame_id: odom
child_frame_id: ''
pose:
pose:
position:
x: 1151.0
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -4.96052408606e-16
w: 1.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 2366
stamp:
secs: 1283264228
nsecs: 250972872
frame_id: odom
child_frame_id: ''
pose:
pose:
position:
x: 1151.0
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -4.96052408606e-16
w: 1.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 2367
stamp:
secs: 1283264228
nsecs: 350933752
frame_id: odom
child_frame_id: ''
pose:
pose:
position:
x: 1151.0
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -4.96052408606e-16
w: 1.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 2368
stamp:
secs: 1283264228
nsecs: 452759196
frame_id: odom
child_frame_id: ''
pose:
pose:
position:
x: 1151.0
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -4.96052408606e-16
w: 1.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header:
seq: 2369
stamp:
secs: 1283264228
nsecs: 551957980
frame_id: odom
child_frame_id: ''
pose:
pose:
position:
x: 1151.0
y: -1.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -4.96052408606e-16
w: 1.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist:
twist:
linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
===============================
TOPIC /particleclouds
header:
seq: 2
stamp:
secs: 1283264215
nsecs: 756479577
frame_id: map
poses:
-
position:
x: 0.276259489987
y: 0.59703817945
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.149056594966
w: 0.988828666401
-
position:
x: 0.740718253068
y: -0.089673382954
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.136820644404
w: 0.990595836487
-
position:
x: -0.235402031999
y: -0.640814719739
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.0373773127287
w: 0.999301224103
-
position:
x: 0.195227750385
y: -0.533825584407
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.253166567161
w: 0.967422704546
-
position:
x: 1.06535852562
y: -0.111224649481
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.134672195018
w: 0.990890205769
-
position:
x: 0.509493294264
y: 0.382609565205
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.200947384627
w: 0.979602035835
-
position:
x: 0.106648801578
y: -0.0610606053734
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.261785029675
w: 0.965126208451
-
position:
x: 0.738234944648
y: 0.278477991024
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.0384439240972
w: 0.999260759111
-
position:
x: -0.297492221037
y: 0.558259590591
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.30049924452
w: 0.953782052695
-
position:
x: 0.0593276507712
y: 0.492263601603
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.181497946659
w: 0.983391323614
-
position:
x: 0.532087494476
y: 0.0744991931483
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.0384564241622
w: 0.999260278126
-
position:
x: 0.143513019496
y: -0.954441759189
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.182208088273
w: 0.983259992356
-
position:
x: 0.203350320118
y: 0.357348693277
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.131358876168
w: 0.99133488068
-
position:
x: -0.248090219989
y: 0.0224983919907
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0394652395713
w: 0.999220943969
-
position:
x: 0.961917733019
y: 0.617788587923
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.150467678296
w: 0.988614928973
.
.
.
position:
x: 0.386256567908
y: -0.578717321836
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.026541595927
w: 0.999647709789
-
position:
x: 0.261445201574
y: 0.933399436686
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.29194663018
w: 0.956434611004
-
position:
x: 1.10912564935
y: 0.88026309372
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.231161506464
w: 0.972915390941
-
position:
x: 0.436744885215
y: -0.129462255606
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0893570920922
w: 0.995999653661
-
position:
x: 2.40085931845
y: 0.0586482542803
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.153628940656
w: 0.988128609338
-
position:
x: 0.552989709579
y: -0.824151892873
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.229310627028
w: 0.973353294715
-
position:
x: 0.595353605949
y: 0.225873002097
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.179521736015
w: 0.983754007005
-
position:
x: -0.335761130772
y: -0.438287725821
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.223219289279
w: 0.974768253942
-
position:
x: 1.5799615211
y: -0.0490837249542
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.200542106019
w: 0.97968508395
==================
TOPIC /scan
---
header:
seq: 859
stamp:
secs: 1283264192
nsecs: 891810522
frame_id: laser
angle_min: -1.57079637051
angle_max: 1.57079637051
angle_increment: 0.00872664619237
time_increment: 7.40740724723e-05
scan_time: 0.0266666673124
range_min: 0.0
range_max: 8.10000038147
ranges: [5.3940000534057617, 5.4010000228881836, 5.4110002517700195,
5.4130001068115234, 5.4150004386901855, 5.4150004386901855,
5.5810003280639648, 6.0370001792907715, 7.9800004959106445,
7.7320003509521484, 6.1870002746582031, 6.1580004692077637,
6.1830000877380371, 7.8010005950927734, 7.8070001602172852,
7.820000171661377, 7.8320002555847168, 7.9100003242492676,
7.6790003776550293, 7.5970005989074707, 7.3090004920959473,
7.0900001525878906, 7.1090002059936523, 7.1180005073547363,
7.13800048828125, 7.1570005416870117, 7.1760001182556152, 4.264000415802002,
4.2770004272460938, 4.75, 8.2639999389648438, 32.76300048828125,
32.76300048828125, 4.0260000228881836, 5.7460002899169922,
7.764000415802002, 4.6400003433227539, 5.0400004386901855,
3.9720001220703125, 4.2760000228881836, 4.2410001754760742,
4.1750001907348633, 4.139000415802002, 4.1110000610351562,
3.8270001411437988, 3.944000244140625, 4.0610003471374512,
3.8340001106262207, 3.6180002689361572, 4.0470004081726074,
.
.
.
.
.
header:
seq: 1061
stamp:
secs: 1283264236
nsecs: 965322
frame_id: laser
angle_min: -1.57079637051
angle_max: 1.57079637051
angle_increment: 0.00872664619237
time_increment: 7.40740724723e-05
scan_time: 0.0266666673124
range_min: 0.0
range_max: 8.10000038147
ranges: [4.5940003395080566, 4.5980000495910645, 3.7400002479553223,
3.7380001544952393, 3.7190001010894775, 4.0370001792907715,
3.4580001831054688, 3.567000150680542, 3.2970001697540283,
3.3000001907348633, 3.3880002498626709, 3.1510002613067627,
2.9940001964569092, 3.1760001182556152, 3.7020001411437988,
3.694000244140625, 3.0930001735687256, 2.8700001239776611,
3.2510001659393311, 3.5540001392364502, 3.4530000686645508,
3.2610001564025879, 2.944000244140625, 2.812000036239624,
2.6570000648498535, 2.6560001373291016, 2.9130001068115234,
3.569000244140625, 3.1160001754760742, 3.1190001964569092,
3.5170001983642578, 8.5329999923706055, 8.5580005645751953,
3.3710000514984131, 3.3940000534057617, 8.6350002288818359,
3.1750001907348633, 3.0980000495910645, 3.1060001850128174,
8.8610000610351562, 8.8900003433227539, 8.9200000762939453,
8.9590005874633789, 8.9880008697509766, 9.0200004577636719,
9.0580005645751953, 9.0989999771118164, 9.1400003433227539,
9.0700006484985352, 9.1160001754760742, 9.1530008316040039,
9.2000007629394531, 9.2370004653930664, 9.2920007705688477,
9.3360004425048828, 9.3819999694824219, 9.4270000457763672,
8.0729999542236328, 7.9720005989074707, 7.8580002784729004,
7.758000373840332, 7.6540002822875977, 32.767002105712891,
32.76300048828125, 32.76300048828125, 32.76300048828125, 7.0290002822875977,
7.0770001411437988, 6.9890003204345703, 6.9090003967285156,
6.8310003280639648, 6.7570004463195801, 6.6820001602172852,
6.6010003089904785, 6.5210003852844238, 5.6670002937316895,
5.629000186920166, 3.7200002670288086, 3.6830000877380371,
3.6550002098083496, 3.6260001659393311, 3.5970001220703125,
3.6040000915527344, 3.570000171661377, 3.5400002002716064,
3.5130002498626709, 3.4760000705718994, 3.4490001201629639,
3.4230000972747803, 3.3880002498626709, 3.3670001029968262,
3.3310000896453857, 3.315000057220459, 3.2970001697540283,
3.2670001983642578, 3.2460000514984131, 3.2200002670288086,
3.2000000476837158, 3.1810002326965332, 3.1620001792907715,
3.1360001564025879, 3.1120002269744873, 3.0990002155303955,
3.0260002613067627, 3.0230002403259277, 2.9980001449584961,
2.9810001850128174, 2.9600000381469727, 2.9880001544952393,
2.9690001010894775, 2.9470000267028809, 2.9350001811981201,
2.9210002422332764, 2.9010000228881836, 2.8910000324249268,
2.8730001449584961, 2.8670001029968262, 2.8490002155303955,
2.8340001106262207, 2.8010001182556152, 2.7010002136230469,
2.7920000553131104, 2.7820000648498535, 2.7650001049041748,
2.4220001697540283, 1.7670000791549683, 1.7690000534057617,
1.8730001449584961, 2.2690000534057617, 2.255000114440918,
2.2880001068115234, 2.2760000228881836, 2.2740001678466797,
2.2800002098083496, 2.2950000762939453, 2.3289999961853027,
2.4840002059936523, 2.4740002155303955, 2.4740002155303955,
2.4610002040863037, 2.442000150680542, 2.4330000877380371,
2.4230000972747803, 2.4230000972747803, 2.4140000343322754,
2.4040000438690186, 2.062000036239624, 2.0530002117156982,
2.0460000038146973, 2.0370001792907715, 2.0360000133514404,
2.0190000534057617, 1.6360000371932983, 1.6550000905990601,
1.9040000438690186, 2.0150001049041748, 2.0150001049041748,
2.0170001983642578, 2.0170001983642578, 2.0170001983642578,
2.0180001258850098, 2.0190000534057617, 2.0220000743865967, 2.125,
2.3340001106262207, 2.3380000591278076, 2.3390002250671387,
2.3390002250671387, 2.3300001621246338, 2.3310000896453857,
2.3310000896453857, 2.3320000171661377, 2.3320000171661377,
2.3320000171661377, 2.3320000171661377, 2.3320000171661377,
2.3300001621246338, 2.2870001792907715, 2.2760000228881836,
2.2710001468658447, 2.2510001659393311, 2.0610001087188721,
2.128000020980835, 2.2840001583099365, 1.9290001392364502,
1.9240001440048218, 1.9050000905990601, 1.9030001163482666,
1.91100013256073, 1.91100013256073, 1.9190001487731934, 1.9180001020431519,
1.9190001487731934, 1.9180001020431519, 1.9260001182556152,
1.9260001182556152, 1.9350000619888306, 1.9350000619888306,
1.9350000619888306, 1.9350000619888306, 1.942000150680542,
1.9410001039505005, 1.9510000944137573, 1.9520001411437988,
1.9610000848770142, 1.970000147819519, 1.970000147819519,
1.9790000915527344, 1.9790000915527344, 1.9780000448226929,
1.9880000352859497, 1.9950001239776611, 2.004000186920166,
2.005000114440918, 2.0140001773834229, 2.0230000019073486,
2.0310001373291016, 2.0310001373291016, 2.0390000343322754,
2.0470001697540283, 2.1840000152587891, 2.5300002098083496,
2.5400002002716064, 2.5480000972747803, 2.5580000877380371,
2.567000150680542, 2.5770001411437988, 2.5840001106262207,
2.6040000915527344, 2.6030001640319824, 2.6220002174377441,
2.632000207901001, 2.6400001049041748, 2.6500000953674316,
2.6680002212524414, 2.6780002117156982, 2.630000114440918,
2.5890002250671387, 2.562000036239624, 2.5250000953674316,
2.4870002269744873, 2.4500000476837158, 2.4240000247955322,
2.3960001468658447, 2.3580000400543213, 2.3370001316070557,
2.3500001430511475, 2.5960001945495605, 2.6060001850128174,
2.5900001525878906, 2.6010000705718994, 2.627000093460083,
2.6350002288818359, 2.6390001773834229, 2.6550002098083496,
2.6720001697540283, 2.6850001811981201, 2.7030000686645508,
2.7200000286102295, 2.7370002269744873, 2.7460000514984131,
2.8300001621246338, 2.8270001411437988, 2.8020000457763672,
2.7840001583099365, 2.7410001754760742, 2.753000020980835,
2.7140002250671387, 2.7310001850128174, 2.7590000629425049,
2.7850000858306885, 2.8030002117156982, 2.8370001316070557,
2.8630001544952393, 2.8880002498626709, 2.9140000343322754,
2.9480001926422119, 2.9760000705718994, 3.0130002498626709,
1.9100000858306885, 1.9040000438690186, 2.0280001163482666,
3.1670000553131104, 3.9000000953674316, 3.8720002174377441,
3.8550002574920654, 2.0230000019073486, 2.0450000762939453,
2.0559999942779541, 2.062000036239624, 2.0410001277923584,
2.0350000858306885, 1.0120000839233398, 0.99700003862380981,
0.98600006103515625, 0.99400001764297485, 1.0120000839233398,
3.8570001125335693, 3.9100000858306885, 0.99700003862380981,
4.0320000648498535, 4.1070003509521484, 4.1720004081726074,
5.4050002098083496, 5.3780002593994141, 5.4800004959106445,
5.5710000991821289, 5.6830000877380371, 5.6350002288818359,
5.6160001754760742, 5.5890002250671387, 5.5710000991821289,
5.5530004501342773, 5.5340003967285156, 5.5270004272460938,
5.499000072479248, 5.5110001564025879, 5.6480002403259277,
5.8010001182556152, 5.948000431060791, 6.1160001754760742,
6.444000244140625, 6.6750001907348633, 6.883000373840332, 7.008000373840332,
7.0220003128051758, 7.0030002593994141, 6.9860005378723145,
6.9670004844665527, 6.5100002288818359, 6.9220004081726074,
6.8930001258850098, 6.8950004577636719, 6.8860001564025879,
6.8590002059936523, 6.6260004043579102, 6.6170001029968262,
6.6080002784729004, 6.6080002784729004, 6.5970001220703125,
6.5890002250671387, 6.5720005035400391, 6.5630002021789551,
6.8060002326965332, 6.8060002326965332, 6.7960004806518555,
6.7860002517700195, 6.3570003509521484, 6.7680001258850098,
6.7660002708435059, 6.7560005187988281, 6.754000186920166,
4.8280000686645508, 4.7670001983642578, 4.9860000610351562,
4.754000186920166, 32.76300048828125, 4.8530001640319824,
5.4320001602172852, 6.7350001335144043, 6.7470002174377441]
intensities: []
Do you see anything problematic for localization?
Because I think localization is problematic that's why next step move_base
for path_planning does not work.
I am sorry that you had to read such a long message.
Please any idea?
with best regards,
safdar
--
View this message in context: http://ros-users.122217.n3.nabble.com/sensor-origin-tp1388170p1394818.html
Sent from the ROS-Users mailing list archive at Nabble.com.
More information about the ros-users
mailing list