Hi all, I am using four sonar sensor and Hokuyo laser for navigation. I am using range_sensor_layer for sonar sensor. The problem is when I publish the sensor_msgs/Range message and use the range_sensor_layer, I get the following error:
[ERROR] [1473920347.325424279]: Range sensor layer can't transform from odom to sonar_one_range at 1473920347.167207
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 sonar_one_range.
tf tree:
[link text](http://pan.baidu.com/s/1bpBlXgj)
costmap_common_params.yaml
obstacle_range: 3.0
raytrace_range: 3.0
footprint: [[0.30, 0.0], [0.30,-0.25], [0.0, -0.25], [-0.30, -0.25], [-0.30,0.0], [-0.30, 0.25], [0.0, 0.25], [0.30, 0.25]]
#robot_radius: 0.5
inflation_radius: 0.2
max_obstacle_height: 0.6
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: /sensors/sonar_sensor
topics: ["sonar_one_range","sonar_two_range","sonar_three_range","sonar_four_range"]
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: 2.0
publish_frequency: 2.0
static_map: false
rolling_window: true
width: 2.0
height: 2.0
resolution: 0.1
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:
map_type: costmap
global_frame: /map
robot_base_frame: /base_link
update_frequency: 3.0
publish_frequency: 3.0
static_map: true
rolling_window: false
resolution: 0.1
transform_tolerance: 1.0
Does anyone have any idea what is going wrong here? Please let me know if you need more information from me. Any help will be appreciated.
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