Cartographer_ros: Lookup would require extrapolation at time. When trying 2D Cartographer ROS with a YD Lidar

[mahendranicl]

Hi,

I am trying to Run 2D Cartographer ROS with a YD Lidar. One error is ruining the performance of the move_base node, i.e. improper Robot navigation.

It was working fine before in Ubuntu 14.04. When I upgraded the version to Ubuntu 16.04, I had to recompile my workspaces.

Now when I run the 2D Cartographer ROS with a YD Lidar, I get the following error.

Thanks in advance !

[c66tang]

Hi, I ran into the same issue. Any updates on this?

[clement2449]

Hi, i have the same issue. It 's very anoying and there is nothing else about this problem on internet :(
take a look if you can at the copy of my bagfile

[clement2449]

[mahendranicl]

Hi,
I have solved the issue. It is to do with adjusting the pose update frequency, map update frequency, controller frequency parameters in both the move_base node configuration files and cartographer configuration files.

[clement2449]

@mahendranicl i understand what you would say but i don't find the correct value :( can you give me your lua file please with the value you have change it will really help me i think

[clement2449]

and your lidar file if you have change any value i am working on a lidar 7hz

[mahendranicl]

There are more than 3-4 files involved from various nodes. Will try to send

[clement2449]

@mahendranicl thk you a lot i'm on it since 2 days ^^

[artemiialessandrini]

Hi @mahendranicl
Did I get you right, that solution is to increase a frequency of several topics published?