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iris-ua / iris_lama_ros

LaMa on ROS
BSD 3-Clause "New" or "Revised" License
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No map publish when use with real hardware #40

Closed IST-DEV20 closed 3 years ago

IST-DEV20 commented 3 years ago

How to fix this no map publish when use with real hardware? (can be used with gazebo)

jcmonteiro commented 3 years ago

@IST-DEV20, this is likely a problem in your setup. Check if the lidars are published to the correct topic and with data and also if you have your base_link to odom tf being updated as you move the robot.

IST-DEV20 commented 3 years ago

@jcmonteiro, topic and data is look good but when I launch /slam2d_ros I can't echo tf between base_link to odom my tf tree Screenshot from 2021-06-15 14-12-09 my /scan topic Screenshot from 2021-06-15 14-11-12 Screenshot from 2021-06-15 14-11-25

jcmonteiro commented 3 years ago

Could you share your roslaunch configuration and the rosnode graph?

IST-DEV20 commented 3 years ago

@jcmonteiro this is my launch of slam2d_ros.launch ` <?xml version="1.0"?>

` and node graph same this https://github.com/iris-ua/iris_lama_ros/issues/40#issuecomment-861245936
jcmonteiro commented 3 years ago

Is the scan_topic defined somewhere else?

IST-DEV20 commented 3 years ago

` <?xml version="1.0"?>

`

jcmonteiro commented 3 years ago

And are you changing the topic by passing the argument to the launch? Are you really publishing to /scan?

IST-DEV20 commented 3 years ago

@jcmonteiro, Sorry for reply rate. Update I fixed problem by set parameter /use_sim_time to false cause when I launch with real hardware and set /use_sim_time to true no topic sim_time.

Thank you for your help and support

jcmonteiro commented 3 years ago

Ooh, missed that one in your launch file. In practice, you should avoid use_sim_time in "inner" launch files and have it only in a top-level launch that calls for the others.