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UbiquityRobotics / move_basic

A minimal navigation node
BSD 3-Clause "New" or "Revised" License
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Laser frame hardcoded in move_basic #40

Closed anfederman closed 6 years ago

anfederman commented 6 years ago

On my bot vac which is getting LDS Scan data, my obstacle distance is fxed at 9.9

getting this warning:

[ WARN] [1529711837.494609404]: "laser" passed to lookupTransform argument source_frame does not exist.

Additional Data:

$ rostopic info /scan Type: sensor_msgs/LaserScan

Publishers:

Subscribers:

alan@anfrosbase:~/catkin_ws/src/magni_robot/magni_nav/launch$ cd alan@anfrosbase:~$ rosmsg show sensor_msgs/LaserScan std_msgs/Header header uint32 seq time stamp string frame_id float32 angle_min float32 angle_max float32 angle_increment float32 time_increment float32 scan_time float32 range_min float32 range_max float32[] ranges float32[] intensities

alan@anfrosbase:~$ rostopic info /obstacle_distance Type: std_msgs/Float32

Publishers:

Subscribers: None

data: 9.89999961853

My guess is I am missing a transform from base_link or base_laser_link, but I don't know.

rohbotics commented 6 years ago

In move_basic the "laser" frame is hardcoded instead of looked up via the message.