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Sorry for the late reply. No they all do, the layer is involved in populating local_map. You are pointing to interesting things:
You are right that the problem description is "dense" but I could not find better non-graphical ways
"When having localization:=false, who takes care of the localization?" -> I can see that AMCL is taking care of it (and to my understanding it is the "alternative stand-alone" localization). In the Turtlebot4 configuration file it should be launched after going the "if-else" logical flow
The headers are populated, notice that I can see in Rviz the sonar and the local map correctly populated in the "working" configuration. The only doubt I had was whether it was a good thing to setup the "sonar frames" via static transforms rather than in the urdf file, but keep reading down :)
I think I have solved the problem making a tighter sync ( I forgot to mention that the robot-base streams data to a raspberry pi which publishes all the related topics while my laptop - i7 32gbRam ++ let's not worry about this - performs all the navigation tasks, including slam). I have used chrony and by this the error mentioned in the initial question ("Range sensor layer can't transform from odom to sonarX_frame", where X=[1,7]") gets much less frequent (once every 5s may be). In this situation I can issue navigation goals to the robot while it is mapping. The trigger that made me use chrony was that the tf really went bananas over time (I could only see static_tf when using the view_frames utility .. and it happens only in the "problematic configuration", does it mean the traffic is too much for the network? I don't know.. ). I am not yet fully happy cause it doesn't seem to be fully under control.. but I will test it further. There is something.. just to be sure take a look at this question
it is related to your question in bold above: if I get it right, slam_toolbox comes with its own localization part (i.e. it is alternative to the amcl node - I am back to robotics after several years and at that time, in Ros1, I was used to gmapping + amcl + blabla), right?
Thanks again for the help