RPlidar. No laser scan received (and thus no pose updates have been published) for 1633661017.717965 seconds. Verify that data is being published on the /scan topic.

asked 2021-10-07 22:09:00 -0600

frans gravatar image

hello, im pretty new using ROS.i need help in my project. so i want to do localization using rplidar a1m8. i already create a map with .yaml format. here the steps i did:

  1. roscore
  2. roslaunch rplidar_ros rplidar.launch
  3. rosrun map_server my_map.yaml
  4. rosrun rviz rviz.
  5. rosrun amcl amcl scan:=scan

after the rviz open, i add the map and the map topic. the map that i have save already appear too. but there is issue in the riviz:

  1. Fixed Frame No tf data. Actual error: Fixed Frame [map] does not exist

  2. For frame [laser]: Fixed Frame [map] does not exist (when i add laser scan )

  3. in the amcl terminal : No laser scan received (and thus no pose updates have been published) for 1633660882.718082 seconds. Verify that data is being published on the /scan topic.

note: i get the amcl from this channel : https://www.youtube.com/watch?v=ZfQ30.... i just copy

my question is:

  1. is my step right to do localization?
  2. if right, why thats error happen
  3. what should i do, i stuck

please help me..

using ros melodic, RPI4, ubuntu 18.04

edit retag flag offensive close merge delete

Comments

I would look at the third error first, and do as it says: "Verify that data is being published on the /scan topic". One thing to do is to run rostopic echo /scan and see if you get any messages; another is to use rosrun rqt_graph rqt_graph (wiki) and make sure the lidar driver and AMCL node are connected via the /scan topic. Please, post the results.

tryan gravatar image tryan  ( 2021-10-08 12:08:28 -0600 )edit

hi, sorry for my late response. its seemns there is no issue when i check the /scan topic uisng rostopic echo scan. you can check my screen shot here: link text

then i check using rostopic info /scan. and the result, scan topic is already subscribed by amcl. you can check my screen shot here: link text

frans gravatar image frans  ( 2021-10-10 01:12:27 -0600 )edit

Your issue may be with other topics or frames in your AMCL configuration. For example, base_frame_id defaults to base_link, but if you're only using a lidar, you should probably change that to the lidar's frame. Also, do you have anything publishing a transform for the odom frame?

tryan gravatar image tryan  ( 2021-10-11 08:17:17 -0600 )edit

same question on my computer. I really wonder if you have already solved it. My env is ros noetic with ubuntu20.04.

2catycm gravatar image 2catycm  ( 2022-04-17 10:18:36 -0600 )edit
add a comment