Problem with AMCL (multi robot) .

[Daviesss]

ISSUE TEMPLATE ver. 0.4.0

1. Which TurtleBot3 platform do you use?

   • [ ] Waffle

2. Which ROS is working with TurtleBot3?

   • [ ] ROS 1 Noetic Ninjemys

   • [ ] ROS 2 Dashing Diademata

   • [ ] ROS 2 Eloquent Elusor

   • [ ] ROS 2 Foxy Fitzroy

   • ROS 1 Noetic Ninjemys

3. Which OS you installed on SBC?

   • [ ] Raspbian distributed by ROBOTIS
   • [ ] Ubuntu MATE (16.04/18.04/20.04)
   • [ ] Ubuntu preinstalled server (18.04/20.04)
   • I am working on a simulation . Multi robot

4. Which OS you installed on Remote PC?

   • [ ] Ubuntu 16.04 LTS (Xenial Xerus)
   • [ ] Ubuntu 18.04 LTS (Bionic Beaver)
   • [ ] Ubuntu 20.04 LTS (Focal Fossa)
   • [ ] Windows 10
   • [ ] MAC OS X (Specify version)
   • [ ] etc (Please specify your OS here)

5. Specify the software and firmware version(Can be found from Bringup messages)

   • Software version: [x.x.x]
   • Firmware version: [x.x.x]

6. Specify the commands or instructions to reproduce the issue.

   • HERE

7. Copy and Paste the error messages on terminal.

   • [ WARN] [1694953047.933345462, 1156.474000000]: No laser scan received (and thus no pose updates have been published) for 1156.474000 seconds. Verify that data is being published on the /robot1/scan topic.

8. Please describe the issue in detail.

   • I am working multi robot on simulation Using ROS noetic . All seems fine but some reason the Amcl package brings out the error above . The laser tf tree seems fine . Laser scan publishes data . But for some reasons Amcl cant get the initial pose of the robot due to the error above . Screenshot below :

[Daviesss]

I solved this problem. I had to tweak the source code . Since the ros::Duration was greater than my laser scan interval the warning messages pops up and my robot scan topics will not receive scan data . So I had to make changes to that method.

[Zuhair-A-Ahmed]

I solved this problem. I had to tweak the source code . Since the ros::Duration was greater than my laser scan interval the warning messages pops up and my robot scan topics will not receive scan data . So I had to make changes to that method.

Dear @Daviesss, Firstly, could you please provide the solved modified source ? Lastly, did you try to implement the multi robots in real environment?