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Can you tell which node is throwing this warning? You can use rxconsole for that.

I think one of your node expects laser scans at 5 Hz (I am betting for the local costmap). There is a parameter for this.

for example

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05

Check this navigation tutorial, it explains how to set your parameters. If you find which node throws this warning, you can look for its parameters in the wiki.

Also, have a look at these posts on the ros user list, they discuss the problem of rotating robots.

• Navigation stack: robot starts rotating upon recieving goal
• Navigation Stack: the robot rotates most of the time after receiving a goal

Please post your findings, I am curious about it.

Raph

Can you tell which node is throwing this warning? You can use rxconsole for that.

I think one of your node expects laser scans at 5 Hz (I and your hardware is somehow not powerful enough to deliver the scans on time. I would be on the local costmap and the parameter update_frequency, but I am betting not sure.

check for the local costmap). There is a parameter for this.

for exampleexample local_costmap_params.yaml:

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05

Check If I am right, check the documentation of costmap_2d and this navigation tutorial, it explains how to set your parameters. If you find which node throws this warning, you can look for at its parameters in the wiki.

Also, Relative to the rotation behavior, have a look at these posts on the ros user list, they list. They discuss the problem of rotating robots.

• Navigation stack: robot starts rotating upon recieving goal
• Navigation Stack: the robot rotates most of the time after receiving a goal

Please post your findings, I am curious about it.

Raph

Can you tell which node is throwing this warning? You can use rxconsole for that.

I think one of your node expects laser scans at 5 Hz and your hardware is somehow not powerful enough to deliver the scans on time. I would be on the local costmap and the parameter update_frequency, but I am not sure.

check for example local_costmap_params.yaml:

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 5.0
  publish_frequency: 2.0
  static_map: false
  rolling_window: true
  width: 6.0
  height: 6.0
  resolution: 0.05

If I am right, check the documentation of costmap_2d and this navigation tutorial, it explains how to set your parameters. If you find which node throws this warning, you can look at its parameters in the wiki.

Relative to the rotation behavior, have a look at these posts on the ros user list. They discuss the problem of rotating robots.

• Navigation stack: robot starts rotating upon recieving goal
• Navigation Stack: the robot rotates most of the time after receiving a goal

Please post your findings, I am curious about it.curious. :)

Raph