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    The /scan observation buffer has not been updated的问题

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    • kkk123
      kkk123 last edited by

      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

      1 Reply Last reply Reply Quote 0
      • kkk123
        kkk123 last edited by

        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,

        weijiz 1 Reply Last reply Reply Quote 0
        • weijiz
          weijiz @kkk123 last edited by

          @kkk123 在 The /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。

          1 Reply Last reply Reply Quote 0
          • kkk123
            kkk123 last edited by

            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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