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ANYbotics / elevation_mapping

Robot-centric elevation mapping for rough terrain navigation
BSD 3-Clause "New" or "Revised" License
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Could not get pose information from robot #180

Closed wxk514 closed 2 years ago

wxk514 commented 2 years ago

When I tried to run the robotnik simulation, I got the following error: [WARN] [1627651722.334626559, 1823.323000000]: Elevation map is updated without data from the sensor. [ERROR] [1627651722.334710253, 1823.323000000]: Could not get pose information from robot for time 0.000000. Buffer empty? [ERROR] [1627651722.334739088, 1823.323000000]: Updating process noise failed. I have posted this topic: rosrun elevation_mapping_demos ground_tth_pose_publisher.py How can I solve it? thank you very much

maximilianwulf commented 2 years ago

Hey @wxk514, it seems your configuration of elevation mapping is wrong. Make sure to subscribe to the proper topics.

MatteoDeBenedetti commented 2 years ago

Hi,

I think I may have had the same problem, I digged a bit, and found something: there seem to be some mistakes in the new parameters' names and the corresponding documentation.

Here is my fix:

Pass both of these for the robot frame, because SensorProcessorBase uses the old one with robot_ in front:

base_frame_id: <base_link>
robot_base_frame_id: <base_link>

Also, the correct param to pass for the pose topic seems to be this one, instead of just robot_pose_topic as in the doc.

robot_pose_with_covariance_topic: <pose_topic>

Now for me it works fine.

@maximilianwulf I will keep looking around in the next days to prepare a pull request. Thanks for the great library!

maximilianwulf commented 2 years ago

@MatteoDeBenedetti submitting fixes directly is always the best :+1:

maximilianwulf commented 2 years ago

Hey, is this issue still relevant?