Welcome! Did you follow the steps from this video? It pretty much covers exactly that.
Do you have prior odometry (e.g. from wheel encoders) or not?
Yes I have encoder motors the same like you the odom move sometimes around so it donāt stay fixed where I started I also tried to set the fixed frame to map to see if it gonna be better but the same after some time the map becomes a mess?
To my environment:
I have carpets and couches where the feetās are polished steel and also furniture that is light reflecting like a mirror. I think maybe that it goes up and down a little bit and also the reflectioing furniture itās causing the problem
Hey @JoshNewans, thank you for your response earlier. We seem to have encountered another issue when trying to launch the slam_toolbox. We launched the following files: Launch Robot, Launch Lidar Node, Launch Rviz2, and Launch Slam Toolbox. The following command was used to launch slam toolbox:
ros2 launch slam_toolbox online_async_launch.py params_file:=./src/tankbot_one/config/mapper_params_online_async.yaml use_sim_time:=false
However, the following error message continuously prints and we are unable to make the map on the real robot.
[async_slam_toolbox_node-1] Warning: Invalid frame ID "base_footprint" passed to canTransform argument source_frame - frame does not exist
[async_slam_toolbox_node-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.14/src/buffer_core.cpp
[async_slam_toolbox_node-1] [WARN] [1686240559.207980460] [slam_toolbox]: Failed to compute odom pose
Please let us know if there is any troubleshooting tips or solution to fix this issue.
I think I mentioned this very briefly in one of the videos (possibly this one?). Some nodes expect a base_footprint frame which should be the same as base_link except sitting on the floor.
If you take a look at my xacro though, I just made it equal to base_link which is fine for this kind of application.
Thank you for your quick response, we had already added this section on the dev machine but not on the robot_wsās robot_core.xacro file. The issue was resolved after adding it in the robot_ws.
2 Likes
Did you solve it I have exactly the same issue now?
hi i have problem with lauch the simulation like this, and i have try how fix it from John_Nam but still error
[INFO] [launch]: All log files can be found below /home/slamlaptop/.ros/log/2023-06-19-08-20-17-931191-slamlaptop-13333
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [13336]
[INFO] [gzserver-2]: process started with pid [13338]
[INFO] [gazebo_params.yaml-3]: process started with pid [13340]
[INFO] [spawn_entity.py-4]: process started with pid [13343]
[INFO] [spawner.py-5]: process started with pid [13346]
[INFO] [spawner.py-6]: process started with pid [13348]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_footprint had 0 children
[robot_state_publisher-1] Link chassis had 2 children
[robot_state_publisher-1] Link caster_wheel had 0 children
[robot_state_publisher-1] Link laser_frame had 0 children
[robot_state_publisher-1] Link left_wheel had 0 children
[robot_state_publisher-1] Link right_wheel had 0 children
[robot_state_publisher-1] [INFO] [1687137618.362613197] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1687137618.362707835] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1687137618.362719560] [robot_state_publisher]: got segment caster_wheel
[robot_state_publisher-1] [INFO] [1687137618.362725692] [robot_state_publisher]: got segment chassis
[robot_state_publisher-1] [INFO] [1687137618.362731652] [robot_state_publisher]: got segment laser_frame
[robot_state_publisher-1] [INFO] [1687137618.362737300] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-1] [INFO] [1687137618.362742537] [robot_state_publisher]: got segment right_wheel
[spawner.py-5] [INFO] [1687137618.496696023] [spawner_diff_cont]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1687137618.563077383] [spawner_joint_broad]: Waiting for /controller_manager services
[spawn_entity.py-4] [INFO] [1687137618.644645973] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1687137618.644888215] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-4] [INFO] [1687137618.645893468] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-4] [INFO] [1687137618.760661862] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1687137618.760914195] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1687137619.264630772] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-4] [INFO] [1687137619.545166550] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [my_bot]
[gzserver-2] [WARN] [1687137619.549533517] [rcl]: Found remap rule ā~/out:=scanā. This syntax is deprecated. Use āāros-args --remap ~/out:=scanā instead.
[gzserver-2] [WARN] [1687137619.551999532] [rcl]: Found remap rule ā~/out:=scanā. This syntax is deprecated. Use āāros-args --remap ~/out:=scanā instead.
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 13343]
[gzserver-2] [INFO] [1687137619.659442697] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-2] [INFO] [1687137619.661760302] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-2] [INFO] [1687137619.662014198] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-2] [INFO] [1687137619.662072363] [gazebo_ros2_control]: Loading parameter files /home/slamlaptop/dev_ws/install/articubot_one/share/articubot_one/config/my_controllers.yaml
[gzserver-2] [INFO] [1687137619.662090467] [gazebo_ros2_control]: Loading parameter files /home/slamlaptop/dev_ws/install/articubot_one/share/articubot_one/config/gaz_ros2_ctl_sim.yaml
[gzserver-2] [INFO] [1687137619.663979352] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-2] [INFO] [1687137619.664435773] [gazebo_ros2_control]: Recieved urdf from param server, parsingā¦
[spawner.py-5] [INFO] [1687137620.507560997] [spawner_diff_cont]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1687137620.575398741] [spawner_joint_broad]: Waiting for /controller_manager services
[gzserver-2] Segmentation fault (core dumped)
[ERROR] [gzserver-2]: process has died [pid 13338, exit code 139, cmd āgzserver ./src/articubot_one/worlds/obstacles4.world -s libgazebo_ros_init.so -s libgazebo_ros_factory.so -s libgazebo_ros_force_system.so --ros-args --params-file /home/slamlaptop/dev_ws/install/articubot_one/share/articubot_one/config/gazebo_params.yamlā].
[spawner.py-5] [INFO] [1687137622.524887419] [spawner_diff_cont]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1687137622.591533340] [spawner_joint_broad]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1687137624.541711711] [spawner_diff_cont]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1687137624.608370062] [spawner_joint_broad]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1687137626.558688032] [spawner_diff_cont]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1687137626.626904026] [spawner_joint_broad]: Waiting for /controller_manager services
[spawner.py-5] [ERROR] [1687137628.577136829] [spawner_diff_cont]: Controller manager not available
[ERROR] [spawner.py-5]: process has died [pid 13346, exit code 1, cmd ā/opt/ros/foxy/lib/controller_manager/spawner.py diff_cont --ros-argsā].
[spawner.py-6] [ERROR] [1687137628.644295897] [spawner_joint_broad]: Controller manager not available
[ERROR] [spawner.py-6]: process has died [pid 13348, exit code 1, cmd ā/opt/ros/foxy/lib/controller_manager/spawner.py joint_broad --ros-argsā].
[gazebo_params.yaml-3] Terminated
[ERROR] [gazebo_params.yaml-3]: process has died [pid 13340, exit code 143, cmd āgzclient --ros-args --params-file /home/slamlaptop/dev_ws/install/articubot_one/share/articubot_one/config/gazebo_params.yamlā].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1687137730.227483736] [rclcpp]: signal_handler(signal_value=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 13336]
i has solved this issues but i have another problem again can you help me with this?
[async_slam_toolbox_node-1] Registering sensor: [Custom Described Lidar]
[ERROR] [async_slam_toolbox_node-1]: process has died [pid 5999, exit code -11, cmd ā/opt/ros/foxy/lib/slam_toolbox/async_slam_toolbox_node --ros-args -r __node:=slam_toolbox --params-file src/articubot_one/config/mapper_params_online_async.yaml --params-file /tmp/launch_params_szf1pr3xā].
Helo, iām having this problem when i tried launching the slam_toolbox for real robot mapping. Any idea?
ros2 launch slam_toolbox online_async_launch.py params_file:=./src/articubot_two/config/mapper_params_online_async.yaml use_sim_time:=false
[INFO] [launch]: All log files can be found below /home/alpaca/.ros/log/2023-06-30-18-48-46-523200-Alpaca-6178
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [async_slam_toolbox_node-1]: process started with pid [6180]
[async_slam_toolbox_node-1] [INFO] [1688122126.748939860] [slam_toolbox]: Node using stack size 40000000
[ERROR] [async_slam_toolbox_node-1]: process has died [pid 6180, exit code -11, cmd '/opt/ros/foxy/lib/slam_toolbox/async_slam_toolbox_node --ros-args -r __node:=slam_toolbox --params-file src/articubot_two/config/mapper_params_online_async.yaml --params-file /tmp/launch_params_gn24hbi4'].
have you solve this issue?
no still have an issues
Hi Josh, i have a question. Is there any way that i can use slam toolbox just with a Lidar, cause i havenāt built a robot yet.
Hi Josh,
Would BNO055 improve odom information (Kalman Filter etc.) and SLAM ?
Do you intend to make some video about it some day?
Thank you very much!
Cheers,
Ivo
P.S: I find you videos very very helpfull!
Hey Josh,
First off, thanks a billion for the whole series.
I followed your tutorial with different hardware. I am using ld19 lidar instead of RPlidar.
Using the ros2 package provided by the manufacturer, I was able to see the lidar in rviz. But, when I run the SLAM toolbox, it generates the map for a very short amount of time( like one iteration) and then doesnāt update the map anymore. Is there any hint of how can I fix this issue? By the way, I keep receiving the following note in the SLAM running window:
āLaserRangeScan contains 501 range readings, expected 500ā
Cheers.
I tried amcl, when i launch this
ros2 run nav2_map_server map_server --ros-args -p yaml_filename:=my_map_save.yaml -p use_sim_time:=true
i met this errors
[INFO] [1703349227.336844850] [map_server]:
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1703349227.337761287] [map_server]: Creating
[INFO] [1703349280.555652805] [map_server]: Configuring
[INFO] [map_io]: Loading yaml file: my_map_save.yaml
[DEBUG] [map_io]: resolution: 0.05
[DEBUG] [map_io]: origin[0]: -5.55
[DEBUG] [map_io]: origin[1]: -5.59
[DEBUG] [map_io]: origin[2]: 0
[DEBUG] [map_io]: free_thresh: 0.25
[DEBUG] [map_io]: occupied_thresh: 0.65
[DEBUG] [map_io]: mode: trinary
[DEBUG] [map_io]: negate: 0
[INFO] [map_io]: Loading image_file: ./my_map_save.pgm
[DEBUG] [map_io]: Read map ./my_map_save.pgm: 177 X 161 map @ 0.05 m/cell
[INFO] [1703349280.727523176] [map_server]: Activating
[INFO] [1703349280.729431632] [map_server]: Creating bond (map_server) to lifecycle manager.
[WARN] [1703349374.430281199] [rcl_lifecycle]: No transition matching 1 found for current state active
>>> [rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:
'timer is canceled, at ./src/rcl/timer.c:249'
with this new error message:
'Transition is not registered., at ./src/rcl_lifecycle.c:355'
rcutils_reset_error() should be called after error handling to avoid this.
<<<
[ERROR] [1703349374.430412437] [map_server]: Unable to start transition 1 from current state active: Transition is not registered., at ./src/rcl_lifecycle.c:355
[WARN] [1703349374.502518775] [rcl_lifecycle]: No transition matching 3 found for current state active
[ERROR] [1703349374.503043275] [map_server]: Unable to start transition 3 from current state active: Transition is not registered., at ./src/rcl_lifecycle.c:355
How to solve this problems?
Hi Josh,
I wish you Merry Christmas and Happy New Year! Your tutorials are ātop of the topā. I am fighting now with SLAM Tutorial. I use your Model from github. I am using Simulation Mode. When I leave it for 1 hour I see a significant drift between the already done map and the current laser scan. If I continue with movement I receive a new map on the old one. I would attach a screen shot but I do not know how.
thank you very much in advance!
Cheers,
Ivo
Hey @JoshNewans,
firstly, thank you so much for the amazing tutorials! Secondly, my laser_frame is moving with the bot. As a result, the generated map turns out to be a mess. Any clues as to why that must be happening?
Iām using micro-ROS with ESP32 on a 4WD robot with encoded motors and no IMU. And the LiDar is RPlidar A1.
(Since I am using micro-ROS, I had to manually write the Odometry publisher along with many static and dynamic transforms. But Iām not sure whatās causing the issue)
Thank you
Did you solve this problem? As i move the robot the map frma starts to drift too much from odom, and the map becomes a mess
i have same problem , did you solve this isure or not ?
Hello Josh. Please I get the error
could not transform from [] to [map] on rviz. it changes with the global fixe frame. For instance if I change the global fixed frame to base_link the error in the map topic changes to
could not transform from [] to [base_link]
even though my tf tree is correct BASE ā base_footprint ā base_link ā odom ā map