Greetings, I’ve just started with the chapter 1 of the project from the new ROS2 Navigation course, and already managed to build a map, but the problem is that it doesn’t show the obstacles in the middle, it only sees the walls of the simulation.
Also, I have many questions about TFs in this case, here as it can be seen I have as Fixed Frame the frame map, where I cannot see the obstacles, but neither I can see a LaserScan if I add it. If I switch to base_link I stop seeing the map but the LaserScan works, where I can see the obstacles, as shown in the next picture:
A few questions here…
I) I can see that the laser is detecting the obstacles as shown, but is there any reason or way if there is filtering that obstacles? I tried with every configuration in RVIZ and also didn’t see any problem in cartographer node…
II) I suppose the problem in RVIZ is that the transform isn’t being published by a node like for example amcd, so there’s no tf from map to odom, and it can’t see other frames than itself, right?
III) Anyone has any idea why this message keep appearing in RVIZ?
This is one of the reasons I wanted this tutorial, because I tried in my workspace some mapping in a greenhouse and it appeared also. The difference here is that here it only appears sometimes, for example in the first try of mapping the environment, it didn’t appear, it was the second time I tried to do it.
IV) As it can be seen in the notebook of the project, it can be seen the robot in RVIZ2, but I didn’t see something like a robot_description or something like that, any guesses?
Thank you for all your time, this course seems pretty interesting and hope you can help me!
Have a nice day,
Ángel