First I run:
$ roslaunch husky_navigation amcl_demo.launch
... logging to /home/user/.ros/log/49fbccaa-92c7-11ec-879a-0242ac140008/roslaunch-1_xterm-1601.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://1_xterm:44745/
SUMMARY
========
PARAMETERS
* /amcl/gui_publish_rate: 10.0
* /amcl/kld_err: 0.05
* /amcl/kld_z: 0.99
* /amcl/laser_lambda_short: 0.1
* /amcl/laser_likelihood_max_dist: 2.0
* /amcl/laser_max_beams: 60
* /amcl/laser_max_range: 12.0
* /amcl/laser_model_type: likelihood_field
* /amcl/laser_sigma_hit: 0.2
* /amcl/laser_z_hit: 0.5
* /amcl/laser_z_max: 0.05
* /amcl/laser_z_rand: 0.5
* /amcl/laser_z_short: 0.05
* /amcl/max_particles: 2000
* /amcl/min_particles: 500
* /amcl/odom_alpha1: 0.2
* /amcl/odom_alpha2: 0.2
* /amcl/odom_alpha3: 0.2
* /amcl/odom_alpha4: 0.2
* /amcl/odom_alpha5: 0.1
* /amcl/odom_frame_id: odom
* /amcl/odom_model_type: diff
* /amcl/recovery_alpha_fast: 0.0
* /amcl/recovery_alpha_slow: 0.0
* /amcl/resample_interval: 1
* /amcl/transform_tolerance: 1.0
* /amcl/update_min_a: 0.2
* /amcl/update_min_d: 0.25
* /amcl/use_map_topic: True
* /move_base/DWAPlannerROS/acc_lim_th: 3.2
* /move_base/DWAPlannerROS/acc_lim_x: 2.5
* /move_base/DWAPlannerROS/acc_lim_y: 0
* /move_base/DWAPlannerROS/latch_xy_goal_tolerance: False
* /move_base/DWAPlannerROS/max_vel_theta: 1.0
* /move_base/DWAPlannerROS/max_vel_trans: 0.5
* /move_base/DWAPlannerROS/max_vel_x: 0.5
* /move_base/DWAPlannerROS/max_vel_y: 0
* /move_base/DWAPlannerROS/min_vel_theta: 0.2
* /move_base/DWAPlannerROS/min_vel_trans: 0.1
* /move_base/DWAPlannerROS/min_vel_x: 0.0
* /move_base/DWAPlannerROS/min_vel_y: 0
* /move_base/DWAPlannerROS/xy_goal_tolerance: 0.2
* /move_base/DWAPlannerROS/yaw_goal_tolerance: 0.1
* /move_base/NavfnROS/allow_unknown: True
* /move_base/NavfnROS/default_tolerance: 0.1
* /move_base/TrajectoryPlannerROS/acc_lim_theta: 3.2
* /move_base/TrajectoryPlannerROS/acc_lim_x: 2.5
* /move_base/TrajectoryPlannerROS/angular_sim_granularity: 0.02
* /move_base/TrajectoryPlannerROS/controller_frequency: 20.0
* /move_base/TrajectoryPlannerROS/dwa: True
* /move_base/TrajectoryPlannerROS/escape_reset_dist: 0.1
* /move_base/TrajectoryPlannerROS/escape_reset_theta: 0.1
* /move_base/TrajectoryPlannerROS/escape_vel: -0.1
* /move_base/TrajectoryPlannerROS/gdist_scale: 1.0
* /move_base/TrajectoryPlannerROS/heading_lookahead: 0.325
* /move_base/TrajectoryPlannerROS/heading_scoring: False
* /move_base/TrajectoryPlannerROS/heading_scoring_timestep: 0.8
* /move_base/TrajectoryPlannerROS/holonomic_robot: False
* /move_base/TrajectoryPlannerROS/latch_xy_goal_tolerance: False
* /move_base/TrajectoryPlannerROS/max_vel_theta: 1.0
* /move_base/TrajectoryPlannerROS/max_vel_x: 1.0
* /move_base/TrajectoryPlannerROS/meter_scoring: True
* /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.2
* /move_base/TrajectoryPlannerROS/min_vel_theta: -1.0
* /move_base/TrajectoryPlannerROS/min_vel_x: 0.0
* /move_base/TrajectoryPlannerROS/occdist_scale: 0.1
* /move_base/TrajectoryPlannerROS/oscillation_reset_dist: 0.25
* /move_base/TrajectoryPlannerROS/pdist_scale: 0.75
* /move_base/TrajectoryPlannerROS/publish_cost_grid_pc: True
* /move_base/TrajectoryPlannerROS/sim_granularity: 0.02
* /move_base/TrajectoryPlannerROS/sim_time: 2.0
* /move_base/TrajectoryPlannerROS/simple_attractor: False
* /move_base/TrajectoryPlannerROS/vtheta_samples: 20
* /move_base/TrajectoryPlannerROS/vx_samples: 6
* /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.2
* /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.1
* /move_base/base_global_planner: navfn/NavfnROS
* /move_base/base_local_planner: dwa_local_planner...
* /move_base/controller_frequency: 5.0
* /move_base/global_costmap/footprint: [[-0.5, -0.33], [...
* /move_base/global_costmap/footprint_padding: 0.01
* /move_base/global_costmap/global_frame: map
* /move_base/global_costmap/inflation/inflation_radius: 1.0
* /move_base/global_costmap/obstacles_laser/laser/clearing: True
* /move_base/global_costmap/obstacles_laser/laser/data_type: LaserScan
* /move_base/global_costmap/obstacles_laser/laser/inf_is_valid: True
* /move_base/global_costmap/obstacles_laser/laser/marking: True
* /move_base/global_costmap/obstacles_laser/laser/obstacle_range: 5.5
* /move_base/global_costmap/obstacles_laser/laser/topic: scan
* /move_base/global_costmap/obstacles_laser/observation_sources: laser
* /move_base/global_costmap/plugins: [{'name': 'static...
* /move_base/global_costmap/publish_frequency: 3.0
* /move_base/global_costmap/resolution: 0.05
* /move_base/global_costmap/robot_base_frame: base_link
* /move_base/global_costmap/rolling_window: False
* /move_base/global_costmap/static/map_topic: /map
* /move_base/global_costmap/static/subscribe_to_updates: True
* /move_base/global_costmap/transform_tolerance: 0.5
* /move_base/global_costmap/update_frequency: 4.0
* /move_base/local_costmap/footprint: [[-0.5, -0.33], [...
* /move_base/local_costmap/footprint_padding: 0.01
* /move_base/local_costmap/global_frame: odom
* /move_base/local_costmap/height: 10.0
* /move_base/local_costmap/inflation/inflation_radius: 1.0
* /move_base/local_costmap/obstacles_laser/laser/clearing: True
* /move_base/local_costmap/obstacles_laser/laser/data_type: LaserScan
* /move_base/local_costmap/obstacles_laser/laser/inf_is_valid: True
* /move_base/local_costmap/obstacles_laser/laser/marking: True
* /move_base/local_costmap/obstacles_laser/laser/obstacle_range: 5.5
* /move_base/local_costmap/obstacles_laser/laser/topic: scan
* /move_base/local_costmap/obstacles_laser/observation_sources: laser
* /move_base/local_costmap/plugins: [{'name': 'obstac...
* /move_base/local_costmap/publish_frequency: 3.0
* /move_base/local_costmap/resolution: 0.05
* /move_base/local_costmap/robot_base_frame: base_link
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/static/map_topic: /map
* /move_base/local_costmap/static/subscribe_to_updates: True
* /move_base/local_costmap/transform_tolerance: 0.5
* /move_base/local_costmap/update_frequency: 4.0
* /move_base/local_costmap/width: 10.0
* /move_base/recovery_behaviour_enabled: True
* /rosdistro: noetic
* /rosversion: 1.15.9
NODES
/
amcl (amcl/amcl)
map_server (map_server/map_server)
move_base (move_base/move_base)
ROS_MASTER_URI=http://1_simulation:11311
process[map_server-1]: started with pid [1609]
process[amcl-2]: started with pid [1610]
process[move_base-3]: started with pid [1611]
[ WARN] [1645414717.940006350, 265.269000000]: No laser scan received (and thus no pose updates have been published) for 265.269000 seconds. Verify that data is being published on the /scan topic.
[ WARN] [1645414717.940246690, 265.269000000]: No laser scan received (and thus no pose updates have been published) for 265.269000 seconds. Verify that data is being published on the /scan topic.
[ WARN] [1645414717.940984970, 265.270000000]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 265.27 timeout was 0.1.
[ INFO] [1645414719.170433730, 266.496000000]: global_costmap: Using plugin "static"
[ INFO] [1645414719.178693183, 266.505000000]: Requesting the map...
[ INFO] [1645414719.381913908, 266.707000000]: Resizing costmap to 608 X 608 at 0.050000 m/pix
[ INFO] [1645414719.481527911, 266.807000000]: Received a 608 X 608 map at 0.050000 m/pix
[ INFO] [1645414719.481573039, 266.807000000]: Subscribing to updates
[ INFO] [1645414719.487094994, 266.812000000]: global_costmap: Using plugin "inflation"
[ INFO] [1645414719.528283929, 266.853000000]: local_costmap: Using plugin "obstacles_laser"
[ INFO] [1645414719.531391829, 266.856000000]: Subscribed to Topics: laser
[ INFO] [1645414719.548079889, 266.873000000]: local_costmap: Using plugin "inflation"
[ INFO] [1645414719.584702616, 266.909000000]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1645414719.589261764, 266.914000000]: Sim period is set to 0.20
[ INFO] [1645414719.837170986, 267.161000000]: Recovery behavior will clear layer 'obstacles'
[ INFO] [1645414719.843485824, 267.168000000]: Recovery behavior will clear layer 'obstacles'
Because of the warning concerning the laser scan, I run:
user:~**$ rostopic echo /scan -n1**
header:
seq: 6931
stamp:
secs: 403
nsecs: 911000000
frame_id: "base_laser"
angle_min: -2.3561899662017822
angle_max: 2.3561899662017822
angle_increment: 0.006554075051099062
time_increment: 0.0
scan_time: 0.0
range_min: 0.10000000149011612
range_max: 30.0
ranges: [9.058794975280762, 9.136943817138672, 9.216317176818848, 9.298355102539062, 9.380011558532715,9.465636253356934, 9.550504684448242, 9.638050079345703, 9.727630615234375, 9.82202434539795, 9.915312767028809, 10.011415481567383, 10.111989974975586, 10.214300155639648, 10.320270538330078, 10.426668167114258, 10.537468910217285, 10.649993896484375, 10.764403343200684, 10.882851600646973, 11.005622863769531, 11.129327774047852, 11.25819206237793, 11.389395713806152, 11.525310516357422, 11.66232967376709, 11.805066108703613, 11.954675674438477, 12.105311393737793, 12.261799812316895, 12.420072555541992, 12.58454704284668, 12.708049774169922, 12.66734504699707, 12.629660606384277, 12.590739250183105, 12.555352210998535, 12.516758918762207, 12.47974681854248, 12.44414234161377, 12.410819053649902, 12.375752449035645, 12.345613479614258, 12.311736106872559, 12.279000282287598, 12.248409271240234, 12.219457626342773, 12.188029289245605, 12.157856941223145, 12.129477500915527, 12.104193687438965, 12.0762300491333, 12.050044059753418, 12.022031784057617, 11.998685836791992, 11.973206520080566, 11.949910163879395, 11.925834655761719, 11.9038667678833, 7.461294651031494, 7.45657205581665, 7.493205547332764, 7.526037693023682, 7.563206672668457, 7.598474979400635, 7.63438606262207, 7.673212051391602, 7.712379455566406, 7.750274658203125, 7.788417816162109, 7.829370021820068, 7.873306751251221, 7.913805961608887, 7.955352306365967, 11.617643356323242, 11.603508949279785, 11.590225219726562, 11.578963279724121, 11.567142486572266, 11.557340621948242, 11.545817375183105, 11.534625053405762, 11.526103973388672, 11.515750885009766, 11.50703239440918, 11.501078605651855, 11.491406440734863, 11.482892990112305, 11.47693157196045, 11.472103118896484,11.466286659240723, 11.461882591247559, 11.457398414611816, 11.452201843261719, 11.448999404907227, 11.446452140808105, 11.444250106811523, 11.440315246582031, 11.440645217895508, 11.437793731689453, 11.437312126159668, 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---
I run:
$ rosrun rviz rviz
and I get a warning:
[ WARN] [1645414932.739373714, 479.334000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_link at time 479.320000 according to authority unknown_publisher
I run:
$ rostopic info /tf
Type: tf2_msgs/TFMessage
Publishers:
* /robot_state_publisher (http://1_simulation:37981/)
* /ekf_localization (http://1_simulation:39295/)
* /gazebo (http://1_simulation:34341/)
* /amcl (http://1_xterm:44033/)
Subscribers:
* /ekf_localization (http://1_simulation:39295/)
* /pointcloud_to_laserscan (http://1_simulation:38871/)
* /move_base (http://1_xterm:36613/)
* /amcl (http://1_xterm:44033/)
* /rviz_1645414929667913460 (http://1_xterm:42535/)
In rviz, I increase the size of the LaserScan and it looks good:
I add PoseArray and set its topic to /particlecloud and rviz makes no complaints. I set the fixed frame to “map” and still no complaints from rviz. But no point cloud is visible.
