Amcl not working properly .
Daviesss opened this issue · comments
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.
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 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
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 .