[ WARN] [1502420195.365135745]: [rf2o] Waiting for laser_scans....

[DavidHan008]

I use this package. my computer is ubuntu14.04 ROS indigo, laser lidar is LMS100 SICK
I want use this package, but I meet some problems.
process[rf2o_laser_odometry-2]: started with pid [1068] [ INFO] [1502420195.349735964]: Initializing RF2O node... [ INFO] [1502420195.365088816]: [rf2o] initialization complete...Looping [ WARN] [1502420195.365135745]: [rf2o] Waiting for laser_scans.... [ WARN] [1502420195.385389221]: [rf2o] Waiting for laser_scans.... [ WARN] [1502420195.405355213]: [rf2o] Waiting for laser_scans.... [ WARN] [1502420195.425344404]: [rf2o] Waiting for laser_scans.... [ WARN] [1502420195.445305128]: [rf2o] Waiting for laser_scans.... [ WARN] [1502420195.465332156]: [rf2o] Waiting for laser_scans.... [ WARN] [1502420195.485249243]: [rf2o] Waiting for laser_scans.... [ WARN] [1502420195.505332636]: [rf2o] Waiting for laser_scans.... [ WARN] [1502420195.525351133]: [rf2o] Waiting for laser_scans.... [ WARN] [1502420195.545836174]: [rf2o] Waiting for laser_scans.... [ WARN] [1502420195.565336343]: [rf2o] Waiting for laser_scans.... [ WARN] [1502420195.585384772]: [rf2o] Waiting for laser_scans.... [ WARN] [1502420195.605366646]: [rf2o] Waiting for laser_scans.... [ WARN] [1502420195.625333745]: [rf2o] Waiting for laser_scans.... [ WARN] [1502420195.645346097]: [rf2o] Waiting for laser_scans.... [ WARN] [1502420195.665551894]: [rf2o] Waiting for laser_scans.... [ WARN] [1502420195.685242988]: [rf2o] Waiting for laser_scans.... [ WARN] [1502420195.705334549]: [rf2o] Waiting for laser_scans..
I find in rf2o_laser_odometry.launch but I do not know the mean
<param name="init_pose_from_topic" value="/base_pose_ground_truth" /> # (Odom topic) Leave empty to start at point (0,0)
I see the source code CLaserOdometry2D.cpp . could you please tell what happen? thx
if( myLaserOdom.is_initialized() && myLaserOdom.scan_available() ) { //Process odometry estimation myLaserOdom.odometryCalculation(); } else { ROS_WARN("[rf2o] Waiting for laser_scans....") ; }

[JGMonroy]

Hi DavidHan008,

Well it looks for me that the rf2o node is not being initialized properly, or that the laser topic u are publishing the scans is not well set for rf2o.

Can you please check that the laser topic you configure in the rf2o parameters is the one your LMS100 SICK is publishing to?
<param name="laser_scan_topic" value="/laser_scan"/> # topic where the lidar scans are being published

If that is correct, then make sure the "initial pose" param is empty (this param is only used to set the initial pose of the odometry, if left empty, it will start at pose (0,0,0).

<param name="init_pose_from_topic" value="" /> # (Odom topic) Leave empty to start at point (0,0)