ROS Nav project transform/particle cloud issues

[david.crider]

Hello. I am currently trying to work on the ROS nav project, but I cannot get the system to publish and /particlecloud data. I think there may be an issue with the transforms, as Rviz displays an error stating there is no transform between map and summit_xl_a_odom.

I took a look at the frames graph, and it is totally different from the one show in the project document.
Project document:

Generated frames graph:

I’ve tried several things, including forcing the transform in a launch file, to no avail. Here is the AMCL node launch file I’m trying to use. Any help would be greatly appreciated.

<?xml version="1.0"?>

<param name="use_map_topic" value="$(arg use_map_topic)"/>

<!--

<param name="odom_frame_id" value="summit_xl_a_odom"/>

<param name="base_frame_id" value="summit_xl_a_base_link"/>

<param name="global_frame_id" value="map"/>

-->

<!--<remap from="map" to="/map"/>-->

<!-- Publish scans from best pose at a max of 10 Hz -->

<param name="odom_model_type" value="diff"/>

<param name="odom_alpha5" value="0.1"/>

<param name="gui_publish_rate" value="5.0"/>

<param name="laser_max_beams" value="60"/>

<param name="laser_max_range" value="12.0"/>

<param name="min_particles" value="500"/>

<param name="max_particles" value="2000"/>

<param name="kld_err" value="0.05"/>

<param name="kld_z" value="0.99"/>

<param name="odom_alpha1" value="0.2"/>

<param name="odom_alpha2" value="0.2"/>

<!-- translation std dev, m -->

<param name="odom_alpha3" value="0.2"/>

<param name="odom_alpha4" value="0.2"/>

<param name="laser_z_hit" value="0.5"/>

<param name="laser_z_short" value="0.05"/>

<param name="laser_z_max" value="0.05"/>

<param name="laser_z_rand" value="0.5"/>

<param name="laser_sigma_hit" value="0.2"/>

<param name="laser_lambda_short" value="0.1"/>

<param name="laser_model_type" value="likelihood_field"/>

<!-- <param name="laser_model_type" value="beam"/> -->

<param name="laser_likelihood_max_dist" value="2.0"/>

<param name="update_min_d" value="0.25"/>

<param name="update_min_a" value="0.2"/>

<param name="odom_frame_id" value="odom"/>

<param name="resample_interval" value="1"/>

<!-- Increase tolerance because the computer can get quite busy -->

<param name="transform_tolerance" value="1.0"/>

<param name="recovery_alpha_slow" value="0.0"/>

<param name="recovery_alpha_fast" value="0.0"/>

<remap from="scan" to="$(arg scan_topic)"/>    

[albertoezquerro]

Hello @david.crider,

The problem is that you are setting the wrong odometry frame. You are setting the frame to odom here:

<param name="odom_frame_id" value="odom"/>

But actually, the correct frame name is summit_xl_a_odom, as you can see in the frames tree graph (the image from the notebook is outdated, I will fix it this week). This should fix your problem. Also, you don’t need to generate the tf since this is indeed the work of the amcl node.

Best,

[david.crider]

Hello, thank you for the help.
That seems to have fixed the transform issue. However, there is still nothing published on the particle cloud topic.

additionally, any time I try to use the 2d pose estimate tool, the rviz terminal says the pose is updated, but there is no change on the GI.

[albertoezquerro]

Hello @david.crider,

Try unchecking the PoseArray display, and then checking it again for refreshing it. This might solve the issue. If not, try to modify the base_frame_id for summit_xl_a_base_footprint. Also, if you want to visualize the pose update in RViz here, you should change the Fixed Frame on RViz to map.

Best,