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ros-planning / navigation

ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.
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Amcl not working properly . #1250

Open Daviesss opened 11 months ago

Daviesss commented 11 months ago

I have a problem . Which i have been on for the past one week. I dont know why this pops up . I am working on Multi robot collaboration(SLAM) . But for some reasons the error below pops up anytime i use Amcl (the robot cant be able to localize on the map due to this error) . I will be glad if i get a help .

[ WARN] [1694953982.886336265, 170.233000000]: No laser scan received (and thus no pose updates have been published) for 170.233000 seconds. Verify that data is being published on the /robot3/scan topic.

Screenshot from 2023-09-17 13-22-34

Daviesss commented 11 months ago

I solved this problem. I had to tweak the source code . Since the ros::Duration was greater than my laser scan interval the warning messages pops up and my robot scan topics will not receive scan data . So I had to make changes to that method.

Bankbuster777 commented 8 months ago

I solved this problem. I had to tweak the source code . Since the ros::Duration was greater than my laser scan interval the warning messages pops up and my robot scan topics will not receive scan data . So I had to make changes to that method.

did you mean this duration? https://github.com/ros-planning/navigation/blob/9ad644198e132d0e950579a3bc72c29da46e60b0/amcl/src/amcl_node.cpp#L509C47-L509C47

Daviesss commented 6 months ago

To reduce the number of TF_REPEATED_DATA warnings the laser scan publish rate needs to be reduced, because amcl depends on rate of incoming laser messages. I edited the source code of amcl to suit the coordination. Works fine now .

mateusguilhermedasilva commented 1 month ago

I solved this problem. I had to tweak the source code . Since the ros::Duration was greater than my laser scan interval the warning messages pops up and my robot scan topics will not receive scan data . So I had to make changes to that method.

I have the same error message:

"[WARN] [1722117737.201293908]: No laser scan received (and thus no pose updates have been published) for 1722117737.201188 seconds. Verify that data is being published on the /scan topic."

I can see that there are messages being published in the /scan topic and that amcl is subscribing to this topic.

How did you go about solving it?

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