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SteveMacenski / slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS
GNU Lesser General Public License v2.1
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MessageFilter [target=odom] Removed message in frame ... at time x, count now 5 #459

Closed francescofact closed 2 years ago

francescofact commented 2 years ago

Hi, I have a bag with 14 seconds of lidar data and tf (_carla/egovehicle/lidar and /tf). I'm trying to do an offline_scan, but just one time I saw the map in rviz, all the other times it gives me "No map". In debug mode slam_toolbox prints many times:

[DEBUG] [1638535964.467017944]: MessageFilter [target=odom ]: Added message in frame ego_vehicle/lidar at time 35.097, count now 5
[DEBUG] [1638535964.518764745]: MessageFilter [target=odom ]: Removed oldest message because buffer is full, count now 5 (frame_id=ego_vehicle/lidar, stamp=34.846930)

I use the standard launchfile with the basic configuration with just one change: base_frame: ego_vehicle/lidar

Here's my bag file if you want to test it out: lidar_tf_14_sec.bag. To play the bag I use rosbag play file_name.bag --clock but also without --clock doesn't work. It worked just a couple times, no idea way. I'm running ros noetic. Thank you

SteveMacenski commented 2 years ago

These are messages relating to TF (e.g. MessageFilter), nothing to do with this codebase beyond the use of that tool. Please make sure you have a valid TF tree before sensor data comes through and that the clocks for simulation are set properly.

If you need further followup, please search on ROS Answers, this is a common noobie problem and there are tons of questions related to similar issues with other ROS software you can use to guide your learning.