SteveMacenski
commented
4 years ago Show a picture of your complete TF tree.
Given you're hacking this dataset, I'm inclined to think its your use of this that's a problem not the package itself. I run my systems on the melodic branch here and I have seen no problems recently. The fact your adding and immediately removing from the message filter means it couldn't properly transform. You can trivially verify by adding a breakpoint or print statement in the callback function for sensor inputs and see if they ever print. If not, then your TF is definitely wrong and the message filter is buffering out invalid scans.
Required Info:
Steps to reproduce issue
1) Download .bag here, this comes from the JRDB test dataset 2) roscore 3) No tf_static is published in the rosbag, so I followed this tutorial to make a publisher so that way I can try to get a map built. 4) roslaunch slam_toolbox online_sync.launch 5) rosrun rviz rviz 6) Open slam_toolbox_default.rviz in rviz 7) rosbag play quarry-road-2019-02-28_0.bag --clock /segway/filtered_front_scan:=/scan /map:=/na
Expected behavior
/map, /scan, /tf, /tf_static echo data when performing "rostopic echo". A map is created in rviz
Actual behavior
/tf and /scan echo without issue /tf_static echos data if I follow step (3) /map never echos data rviz does not create a visualization of the map (I am assuming this is because /map never echos data)
I get a lot of debug messages such as below:
Additional information
I am using default configs. I have verified the topics exist, and that nodes are subscribing/publishing to the topic. Should the slam_toolbox both subscribe and publish to /map?