Re: AMCL fail -- /tf error on turtlebot --- ROS fuerte

[Patrick Goebel]

Hi Ankit,

Are you running this on a real TurtleBot using the Kinect as a fake laser?  If so, after running the TurtleBot minimal.launch and kinect.launch files, make sure you are getting laser data on the /narrow_scan topic since the TurtleBot's AMCL launch file expects the laser data on this topic.

--patrick

On 10/04/2013 01:29 AM, Ankit Ravankar wrote:

Dear Patrick,

Recently when running the AMCL launch file on the saved map, I got this error.

[ WARN] [1339006062.734650906]: Waiting on transform from /base_link to /map to become available before running costmap, tf error: 
   [ WARN] [1339006067.778188511]: Waiting on transform from /base_link to /map to become available before running costmap, tf error:
 

On the rviz the map shows up but the robot is stationary at a corner and when clicking on 2d nav goal button on the rviz , nothing happens

What could be the problem. I saved the tf tree. Please find the attached pdf.

Thanks

Regards
Ankit

--
You received this message because you are subscribed to the Google Groups "ros-by-example" group.
To unsubscribe from this group and stop receiving emails from it, send an email to ros-by-exampl...@googlegroups.com.
Visit this group at http://groups.google.com/group/ros-by-example.
For more options, visit https://groups.google.com/groups/opt_out.

[Patrick Goebel]

Hi Ankit,

Ah, OK.  So I'm guessing your hokuyo launch file is publishing the laser data on the /scan topic rather than the /narrow_scan topic that the default TurtleBot amcl launch file expects.  Try running the amcl_turtlebot.launch file with the scan_topic argument set like this:

$ roslaunch turtlebot_navigation amcl_turtlebot.launch scan_topic:=/scan

--patrick

On 10/04/2013 06:33 AM, Ankit Ravankar wrote:

Dear Patrick,

I am using on a real turtlebot 1 with URG-04 LX hokuyo lidar. 

I launch the turtlebot bring up launch file, followed by hokuyo launch file , and 

other instructions as given in the Ros by example book. I have already saved the map 

in the maps folder with a pgm extention and a yaml file. 

But I dont see the map topic on the rviz, when I write /map topic the map shows up but the amcl does not work,

giving the mentioned errors. 

Is it something to do with using hokuyo Lidar instead of Kinect fake laser? 

Thank you for your help

Regards

Ankit

--

'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
RAVANKAR ANKIT

Hokkaido University, Japan
Graduate School of Engineering (PhD student)
Division of Human Mechanical System Design
Laboratory of Robotics and Dynamics

Room A5-61

ラワンカル　アンキット

北 海道大学大学院 工学研究科
人 間機械システムデザイン専攻 バイオ・ロボティクス講座
ロ ボティクス・ダイナミクス研究室-A5-61
博士課程１年

Tel: 011-706-6410
E-mail to :rava...@mech-hm.eng.hokudai.ac.jp 
ankitr...@gmail.com