Closed zainmehdi closed 3 years ago
Hi @zainmehdi.
That usually happens when the transformation frames are not correct. Please make sure you have the base_frame_id
and odom_frame_id
properly set, and also the scan_topic
set to the correct laser topic.
By the way, which ROS version are you using?
hi @eupedrosa thanks for the reply. I am using ROS Noetic and Ubuntu Mate,
Remember to not use /
in the name of the frames, for example: base_frame_id=base_link
not base_frame_id=/base_link
Thanks alot. I will try and share my results.
I tried following command
rosrun iris_lama_ros slam2d_ros scan_topic:=scan base_frame_id:=base_footprint odom_frame_id:=odom
YDLidar is publishing a static transform from base_footprint to laser_frame but still I get the same error. Is there anything wrong in the transforms ?
For the scan_topic
try scan_topic:=/scan
Same result :(
Can you provide a small bag so I can try understand what it is happening?
Here is the bag file. https://drive.google.com/file/d/1udN77bSRptg_qSVWx9SdR7Fq7WeItFIV/view?usp=sharing Thanks
@zainmehdi, you bag is missing the /tf_static
Bu can you try with the following command:
rosrun iris_lama_ros slam2d_ros _scan_topic:=/scan _base_frame_id:=base_footprint _odom_frame_id:=odom
The parameters need the _
prefix before their name otherwise they are interpreted as topic and not parameter.
@eupedrosa Thanks alot for your help but it still gives me the same error. The slam node isnt publishing any transform from map->odom. I am sure there is something wrong with the node publishing laser messages
Also check you TF tree to make sure everything is OK.
It worked just after a restart. I am not sure what was wrong but I didnt change much.
rosrun iris_lama_ros slam2d_ros _scan_topic:=/scan _global_frame_id:=map _base_frame_id:=base_footprint _odom_frame_id:=base_footprint
Since I dont have any odometry source the output from map->odom is always zero. Is odometry source mandatory for lama ? Here is my Tf
It is better to have odometry, but since you do not have odometry try the following:
rosrun iris_lama_ros slam2d_ros _scan_topic:=/scan _global_frame_id:=map _base_frame_id:=base_footprint _odom_frame_id:=base_footprint _d_thresh:=-1.0 _a_thresh:=-1.0
This will replace the odometry by aplying the scan matching every time there is a scan.
Thanks alot @eupedrosa That did the trick. Working like a charm now. If possible it would be really helpful to add this odometry tip in the readme for noobs like me :)
It is a hidden feature :smile:
But yes, I should add it to the README.
Hi I am trying to run Iris LAMA with YD Lidar X2L on a rapsberry pi. When I run online slam node I always get this message.
MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.iris_lama_ros.message_filter] rosconsole logger to DEBUG for more information.
Can there be any hints on whats wrong here ?
Thanks