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The /scan observation buffer has not been updated的问题



  • 我虚拟了一个激光数据, 发布频率是10HZ,发布的话题是"scan",
    move_base costmap_common_params.yaml参数如下
    base_scan: {data_type: LaserScan, topic: /scan, observation_persistence: 0.0, marking: true, clearing: true, expected_update_rate: 0.5},更新的频率为:0.5.
    但是move_base启动起来之后,一直报这个警告:
    The /scan observation buffer has not been updated for 0.86 seconds,
    里面的没有更新的时间最多0.9秒,不知道是怎么回事?
    我的激光数据发布已经够快了,base_scan更新的频率也不太快,是0.5s,,为什么还会出现这个警告那?
    谢谢



  • 我启动的是xiaoqiang_udrf.launch,cc_fake_move_base_blank_map.launch,然后模拟了里程和激光雷达数据,这个消息应该是costmap_2d报出来的,如果expected_update_rate改为0,就没有警告了,



  • @kkk123The /scan observation buffer has not been updated的问题 中说:

    cc_fake_move_base_blank_map

    你可以订阅一下/scan看看实际的频率是多少。消息有没有被message filter过滤。



  • xiaoqiang@cc:~$ rostopic hz /scan
    subscribed to [/scan]
    average rate: 9.999
    min: 0.100s max: 0.100s std dev: 0.00004s window: 10
    average rate: 9.996
    min: 0.100s max: 0.101s std dev: 0.00016s window: 20
    average rate: 9.999
    min: 0.099s max: 0.101s std dev: 0.00019s window: 30
    这个是SCAN发布的频率信息。
    header:
    seq: 809
    stamp:
    secs: 1547886482
    nsecs: 454692793
    frame_id: “lidar_link”
    angle_min: -1.57000005245
    angle_max: 1.57000005245
    angle_increment: 0.0313999988139
    time_increment: 2.49999999369e-07
    scan_time: 9.50000030571e-05
    range_min: 0.0
    range_max: 100.0
    ranges: [809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0, 809.0]
    intensities: [909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0, 909.0]

    这个是模拟的数据
    xiaoqiang@cc:~$ rostopic list
    /cmd_vel
    /joint_states
    /map
    /map_metadata
    /move_base/ADDWAPlannerROS/cost_cloud
    /move_base/ADDWAPlannerROS/currentlocal_plan
    /move_base/ADDWAPlannerROS/global_plan
    /move_base/ADDWAPlannerROS/local_plan
    /move_base/ADDWAPlannerROS/parameter_descriptions
    /move_base/ADDWAPlannerROS/parameter_updates
    /move_base/ADDWAPlannerROS/trajectory_cloud
    /move_base/NavfnROS/plan
    /move_base/StatusFlag
    /move_base/cancel
    /move_base/current_goal
    /move_base/feedback
    /move_base/global_costmap/costmap
    /move_base/global_costmap/costmap_updates
    /move_base/global_costmap/footprint
    /move_base/global_costmap/inflation_layer/parameter_descriptions
    /move_base/global_costmap/inflation_layer/parameter_updates
    /move_base/global_costmap/obstacle_layer/parameter_descriptions
    /move_base/global_costmap/obstacle_layer/parameter_updates
    /move_base/global_costmap/parameter_descriptions
    /move_base/global_costmap/parameter_updates
    /move_base/global_costmap/static_layer/parameter_descriptions
    /move_base/global_costmap/static_layer/parameter_updates
    /move_base/goal
    /move_base/local_costmap/costmap
    /move_base/local_costmap/costmap_updates
    /move_base/local_costmap/footprint
    /move_base/local_costmap/inflation_layer/parameter_descriptions
    /move_base/local_costmap/inflation_layer/parameter_updates
    /move_base/local_costmap/obstacle_layer/parameter_descriptions
    /move_base/local_costmap/obstacle_layer/parameter_updates
    /move_base/local_costmap/parameter_descriptions
    /move_base/local_costmap/parameter_updates
    /move_base/parameter_descriptions
    /move_base/parameter_updates
    /move_base/result
    /move_base/status
    /move_base_simple/goal
    /odom
    /rosout
    /rosout_agg
    /scan
    /send_movebase_cmd/receive_cmd
    /tf
    /tf_static
    这个是启动的节点。
    我没有看出问题来,但是速度快了就不行了


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