[AMCL] Wrong warning message when giving the wrong value for "odom_frame_id" parameter

[cailloumax]

I recently ran into an issue using AMCL, for which I was given this warning message:

[ WARN] [1425574394.999492201]: No laser scan received (and thus no pose updates 
have been published) for 1425574394.999407 seconds.  Verify that data is being published
on the /scan topic.

However, the actual issue was a miscofiguration of the odom_frame_id :
<param name="odom_frame_id" value="/odom/ekf/imu"/>
Here I give my topic name, in place of the frame ID required.

Would it be possible to detect the issue and give an adapted warning message ?

[mikeferguson]

I think it is a bit involved - we use a tf2_ros::MessageFilter to subscribe to the laser scan - I think to differentiate between no messages and unavailable transforms you have to register a failure callback on the MessageFilter, and then set a separate timestamp in that callback and then use that timestamp to give the correct message that scans are not transformable.

Certainly a nice improvement, PRs are welcome.

[Daviesss]

How was this issue resolved? . I have similar problem . But with multi robot unable to get scan data by amcl . Robot scan topics.

[Daviesss]

I solved this problem. I had to tweak the source code . Since the ros::Duration was greater than my laser scan interval the warning messages pops up and my robot scan topics will not receive scan data . So I had to make changes to that method.

[jangirrishabh]

Hello @Daviesss could you describe how you solved it?

[albertrichard080]

@Daviesss Did you solved?

[Daviesss]

Yes , i solved it .