map/ Control loop missed its desired rate of 5.0000Hz
Hello. I am using ros melodic and I am trying to do mapping and navigation. I am getting the following error:
I have already tried the suggestions in other posts with similar errors with no success. I am not sure what code I should send for debugging. Please let me know.
Edit: Here are the params that I am using:
global_costmap:
global_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 5.0
static_map: true
transform_tolerance: 0.5 #1.0
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
local_costmap:
local_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 2
publish_frequency: 2
static_map: false
rolling_window: true
width: 2 #5
height: 2 #5
resolution: 0.1
transform_tolerance: 0.3
costmap params:
robot_radius: 0.19
transform_tolerance: 0.3
map_type: costmap
obstacle_layer:
enabled: true
obstacle_range: 2.5 #2.5
raytrace_range: 3.5 #3.5
inflation_radius: 0.2 #.5
track_unknown_space: false
combination_method: 1
observation_sources: laser_scan_sensor
laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
inflation_layer:
enabled: true
cost_scaling_factor: 5.0 # exponential rate at which the obstacle cost drops off (default: 10)
inflation_radius: 0.2 #.5 # max distance from an obstacle at which costs are incurred for planning paths.
static_layer:
enabled: true
map_topic: "map"
