Suspected bug in USARSim/ROS

asked 2013-10-31 05:03:04 -0600

RB
221 ●41 ●46 ●60

updated 2013-11-04 00:16:45 -0600

Hi, After several attempts I have been able to generate a bag file containing logged

transform and laser scan data. when I type

root@ubuntu:~/fuerte_workspace/sandbox# rosbag info mylaserdata.bag

path: mylaserdata.bag

version: 2.0

duration: 7:28s (448s)

start: Oct 31 2013 21:20:39.34 (1383234639.34)

end: Oct 31 2013 21:28:07.46 (1383235087.46)

size: 3.7 MB

messages: 24650

compression: none [5/5 chunks]

types: tf/tfMessage [94810edda583a504dfda3829e70d7eec]

topics: /tf 24650 msgs : tf/tfMessage (2 connections)

But a standard bag from willow garage contains

types: sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369] tf/tfMessage [94810edda583a504dfda3829e70d7eec]

topics: /base_scan 924 msgs : sensor_msgs/LaserScan

          /tf          2769 msgs    : tf/tfMessage

I started gmapping by

rosrun gmapping slam_gmapping scan:=lms200 _odom_frame:=odom

so there is no information regarding /lms200.

rxgraph output gives no information of the error image description

but rviz information does not match with auto generated transform tree. There is no messeges in /lms200 and we have to manually add /lms200 through rviz window image description

Again rostopic echo /lms200 to see if there are any published messages Then nothing appears.

PLZ help.

* I know this USARSim/Ros is used in robo cup as well but no one mentioned about the error.*

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Comments

How did you record that bag file? Was "/lms200" topic available during recording?

ZdenekM ( 2013-10-31 05:56:25 -0600 )edit

ZdenekM, rosbag record -O mylaserdata.bag /lms200 /tf. But no sensor message in the information. So ultimately /lms200 can't capture the messege.

RB ( 2013-10-31 07:14:26 -0600 )edit

Did you check if the laser topic was available during recording? Can you try to run your simulation and then "rostopic list" to see what topics are available?

ZdenekM ( 2013-10-31 07:43:17 -0600 )edit

I haven't check that one, but rxgraph out put gives /lms200. I will check and tell. Have you figured out the problem.

RB ( 2013-10-31 08:05:56 -0600 )edit

You can also try "rostopic echo /lms200" to see if there are any published messages...

ZdenekM ( 2013-10-31 08:07:45 -0600 )edit

Have you received LaserScan messeges correctly using USARSim/ROS

RB ( 2013-10-31 10:07:42 -0600 )edit

I'm not using USARSim.

ZdenekM ( 2013-10-31 10:08:56 -0600 )edit

The bug is that the tf tree instantiated by USARSimRos does not contain the /lms200 node, although expected.