RE: RE: Re: Rtabmap mapping done but can't do relocalization

Posted by zelda on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-mapping-done-but-can-t-do-relocalization-tp1257p1272.html

Thanks for the reviews.

1. Yes, when I set 2D navigation and do the $rostopic echo /mobile_base/commands/velocity,
it publishes the veloicity.(They are 0, because it is not moving).

I can't see any errors when doing the navigation.. It is just not moving..
(I usually wated errors/warnings at demo_turtlebot_mapping.launch terminal.
 I see some  [ERROR] [1462843004.190470220]: Kobuki : Timed out while waiting for serial data stream [/mobile_base].
 errors on minimal.launch terminal. Would it be problem?)

2. Oh actually it didn't change. Average of the frames connected to base_link is near 5Hz. Most recent transform is
about 0.145sec old. Hmm why??
(Add. I tried several times changing the robot.launch.xml, both Turtlebot and WorkStation, but the frequencies are still around 5Hz. I checked the similar files like mobile_base.launch.xml, but there weren't any frequnecy setting option like robot.launch.xml)