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CCNYRoboticsLab / scan_tools

ROS Laser scan tools
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Error in scan matching #60

Open af-silva opened 6 years ago

af-silva commented 6 years ago

Hi,

I have a robot application and I was testing this package for Laser Odometry and stumbled with this problem error running the node, I have briefly looked into the code but I was not able to understand the cause of the error.

:err: Valid: 27/1083 invalid: 1056. [ WARN] [1524149236.189355990, 17446.189000000]: Error in scan matching

So, my software configuration is as follows: I have a node publishing the laser scanner of to other lasers to a frame_id (the laser frame) with a transform (tf) to the base_link, and my base frame is the odom (instead of the world). I have also the map (that is used and published by the AMCL Package).

TFs: map -> odom odom -> base_link base_link -> laser

The laser scanner is being published in the scan topic.

Anyone have an idea why this happens, I would appreciate any help regarding this, In the mean time I will continue searching for possible solution.

Thanks in advance,

ClaraGomez commented 5 years ago

Hi, I am having the same problem. Did you find a solution? Thanks!

af-silva commented 5 years ago

Hi @ClaraGomez, sorry for the late reply... This was sometime ago and I didn't pursued a solutions for this, I couldn't understand the cause, so I switch to another solution, try this one.

Sorry for not being much of a help ;)