0
$\begingroup$

i have already created the map using hector slam of my room. Now I want to use that map for AMCL localization. As I don't have any odometry (IMU or wheel encoders) but now wants to use only the laser_scan_matching method for localization. I am using rplidar a1m8, which is connected to my mobile robot on which I am running rplidar node on one terminal and amcl launch file on another terminal both on Robot and rviz in my laptop which uses docker container for running ROS.

After I run the amcl_localizer.launch file, I get the everything I needed but the error below is always shown on the terminal of amcl localizer:

 [WARN] [1715793246.711761362]: Could not get base to fixed frame transform, Lookup would require extrapolation 0.034709300s into the future.  
Requested time 1715793246.462012291 but the latest data is at time 1715793246.427303076, when looking up transform from frame [base_link] to frame [odom]

amcl_localizer.launch

<launch>

  <param name="/use_sim_time" value="false"/>


  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" 
    args="0.0 0.0 0.0 0.0 0.0 0.0 base_link laser 40" />

  <node pkg="laser_scan_matcher" type="laser_scan_matcher_node" 
    name="laser_scan_matcher_node" output="screen">
    <param name="fixed_frame" value = "odom"/>
    <param name="use_alpha_beta" value="true"/>
    <param name="max_iterations" value="10"/>
  </node>

 <node name="map_server" pkg="map_server" type="map_server" args="/home/pi/Desktop/PiCar/catkin_ws/src/amcl_localizer/maps/my_map.yaml"/>

  <node pkg="amcl" type="amcl" name="amcl" output="screen" >
  <!-- 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="transform_tolerance" value="0.2" />
  <param name="gui_publish_rate" value="10.0"/>
  <param name="laser_max_beams" value="60"/>
  <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="0.8"/>
  <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_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="0.2"/>
  <param name="update_min_a" value="0.5"/>
  <param name="odom_frame_id" value="odom"/>

  <param name="base_frame_id" type="str" value="base_link" />
  <param name="global_frame_id" type="str" value="map" />

  <param name="resample_interval" value="1"/>
  <param name="transform_tolerance" value="0.1"/>
  <param name="recovery_alpha_slow" value="0.0"/>
  <param name="recovery_alpha_fast" value="0.0"/>
  <param name="use_map_topic" value="true" />
  <param name="first_map_only" value="true" />
</node>

</launch>

the frame.pdf is

Frame.pdf

Please provide me the solution or how should I proceed, for Map based navigation of my mobile robot

enter image description here

$\endgroup$
0

0

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.