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iris-ua / iris_lama_ros

LaMa on ROS
BSD 3-Clause "New" or "Revised" License
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Problems on integration of localization to ros navigation stack (move-base) #41

Open jojo89776 opened 3 years ago

jojo89776 commented 3 years ago

First of all, I really appreciate the release of this wonderful mapping and localization package. Currently, I'm working on an exchange amcl-based localization tool with this iris-lama-ros package. However, when I was using this package with move base (ros navigation stack), I got the error message "Extrapolation Error: Lookup would require extrapolation into the future". (When using amcl-based localization, there was no error). Do you have any idea to solve, or did you have any experience with such problems? (I tried comment tf-broadcaster on localization node, but nothing changed). It will be greatly helpful if you (or someone) can give any comments!

eupedrosa commented 3 years ago

Hi @jojo89776, thanks for you kind words about LaMa.

I usually do not have an "Extrapolation Error" when using the localization node. Commenting the tf-broadcaster will not solve the problem, in fact, it makes it worse. Are you using melodic or noetic?

There is a parameter called ~transform_tolerance, try increase it to a higher value than 0.1 (eg 0.2 or 0.3).

jojo89776 commented 3 years ago

Thank you for the comment. Actually, when I used localization only, there was no error and the algorithm worked perfectly. This error occurs when I was using the lama-ros localization with move-base (Extrapolation error on local planner). I will change transform tolerance and figure out the problems.