Hi all,
I am using ir sensor and Hokuyo laser for navigation. I am using range_sensor_layer for ir sensor. The problem is when I publish the sensor_msgs/Range message and use the range_sensor_layer, I get the following error:
[ERROR] [1457576623.750078440]: Range sensor layer can't transform from odom to ir_ranger at 1457576623.464401
I am not able to see why am I getting this error as the tf tree is properly set up and there is a transformation from odom to ir_ranger:
costmap_common_params.yaml
obstacle_range: 7.0
raytrace_range: 7.0
footprint: [[0.40, 0.40], [0.40, -0.40], [-0.40, -0.40], [-0.40, 0.40]]
#robot_radius: 0.5
inflation_radius: 0.1
max_obstacle_height: 0.3
min_obstacle_height: 0.0
obstacle_layer:
observation_sources: scan
scan:
data_type: LaserScan
topic: scan
marking: true
clearing: true
expected_update_rate: 0.0
observation_persistence: 0.0
range_sensor_layer:
ns: ""
topics: ["ir_ranger_topic"]
no_readings_timeout: 0.0
clear_threshold: 2.0
mark_threshold: 8.0
clear_on_max_reading: true
local_costmap_params.yaml
local_costmap:
global_frame: /odom
robot_base_frame: /base_link
update_frequency: 3.0
publish_frequency: 1.0
static_map: false
rolling_window: true
width: 6.0
height: 6.0
resolution: 0.05
transform_tolerance: 1.0
plugins:
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: range_sensor_layer, type: "range_sensor_layer::RangeSensorLayer"}
global_costmap_params.yaml
global_costmap:
global_frame: /map
robot_base_frame: /base_link
map_type: costmap
update_frequency: 3.0
publish_frequency: 1.0
static_map: true
rolling_window: false
resolution: 0.05
transform_tolerance: 0.5
plugins:
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: range_sensor_layer, type: "range_sensor_layer::RangeSensorLayer"}
robot.urdf
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