Open qwease1111 opened 8 months ago
I've done again the command:
ros2 daemon stop
ros2 daemon start
Now there are some topics:
/locobot/joint_states
/locobot/mobile_base/tf
/locobot/robot_description
/locobot/scan
/parameter_events
/rosout
/tf
/tf_static
However, the terminal print out the following logs:
[realsense2_camera_node-5] [WARN] [1700831445.550888088] [locobot.camera.camera]: XXX Hardware Notification:Depth stream start failure,1.70083e+12,Error,Hardware Error
[realsense2_camera_node-5] [WARN] [1700831445.550975672] [locobot.camera.camera]: Hardware Notification:Depth stream start failure,1.70083e+12,Error,Hardware Error
[INFO] [camera_tilt-7]: process has finished cleanly [pid 3571]
[INFO] [rgbd_sync-8]: process started with pid [3662]
[INFO] [obstacles_detection-9]: process started with pid [3664]
[INFO] [point_cloud_xyzrgb-10]: process started with pid [3666]
[INFO] [rtabmap-11]: process started with pid [3668]
[rgbd_sync-8] [INFO] [1700831458.850665884] [locobot.rtabmap.rgbd_sync]: rgbd_sync: approx_sync = false
[rgbd_sync-8] [INFO] [1700831458.850849636] [locobot.rtabmap.rgbd_sync]: rgbd_sync: queue_size = 10
[rgbd_sync-8] [INFO] [1700831458.850862780] [locobot.rtabmap.rgbd_sync]: rgbd_sync: qos = 0
[rgbd_sync-8] [INFO] [1700831458.850870346] [locobot.rtabmap.rgbd_sync]: rgbd_sync: qos_camera_info = 0
[rgbd_sync-8] [INFO] [1700831458.850878569] [locobot.rtabmap.rgbd_sync]: rgbd_sync: depth_scale = 1.000000
[rgbd_sync-8] [INFO] [1700831458.850892892] [locobot.rtabmap.rgbd_sync]: rgbd_sync: decimation = 1
[rgbd_sync-8] [INFO] [1700831458.850900174] [locobot.rtabmap.rgbd_sync]: rgbd_sync: compressed_rate = 0.000000
[rtabmap-11] [INFO] [1700831458.855988295] [locobot.rtabmap.rtabmap]: rtabmap(maps): map_filter_radius = 0.000000
[rtabmap-11] [INFO] [1700831458.856206430] [locobot.rtabmap.rtabmap]: rtabmap(maps): map_filter_angle = 30.000000
[rtabmap-11] [INFO] [1700831458.856222409] [locobot.rtabmap.rtabmap]: rtabmap(maps): map_cleanup = true
[rtabmap-11] [INFO] [1700831458.856230457] [locobot.rtabmap.rtabmap]: rtabmap(maps): map_always_update = false
[rtabmap-11] [INFO] [1700831458.856237692] [locobot.rtabmap.rtabmap]: rtabmap(maps): map_empty_ray_tracing = true
[rtabmap-11] [INFO] [1700831458.856244461] [locobot.rtabmap.rtabmap]: rtabmap(maps): cloud_output_voxelized = true
[rtabmap-11] [INFO] [1700831458.856251284] [locobot.rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering = false
[rtabmap-11] [INFO] [1700831458.856258280] [locobot.rtabmap.rtabmap]: rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[rtabmap-11] [INFO] [1700831458.856276882] [locobot.rtabmap.rtabmap]: rtabmap(maps): octomap_tree_depth = 16
[rgbd_sync-8] [INFO] [1700831458.860643967] [locobot.rtabmap.rgbd_sync]:
[rgbd_sync-8] rgbd_sync subscribed to (exact sync):
[rgbd_sync-8] /locobot/camera/color/image_raw,
[rgbd_sync-8] /locobot/camera/aligned_depth_to_color/image_raw,
[rgbd_sync-8] /locobot/camera/color/camera_info
[rtabmap-11] [INFO] [1700831458.894243512] [locobot.rtabmap.rtabmap]: rtabmap: frame_id = locobot/base_footprint
[rtabmap-11] [INFO] [1700831458.894290439] [locobot.rtabmap.rtabmap]: rtabmap: odom_frame_id = locobot/odom
[rtabmap-11] [INFO] [1700831458.894304050] [locobot.rtabmap.rtabmap]: rtabmap: map_frame_id = map
[rtabmap-11] [INFO] [1700831458.894314517] [locobot.rtabmap.rtabmap]: rtabmap: use_action_for_goal = false
[rtabmap-11] [INFO] [1700831458.894324930] [locobot.rtabmap.rtabmap]: rtabmap: tf_delay = 0.050000
[rtabmap-11] [INFO] [1700831458.894340347] [locobot.rtabmap.rtabmap]: rtabmap: tf_tolerance = 0.100000
[rtabmap-11] [INFO] [1700831458.894352607] [locobot.rtabmap.rtabmap]: rtabmap: odom_sensor_sync = false
[rtabmap-11] [INFO] [1700831458.894362211] [locobot.rtabmap.rtabmap]: rtabmap: gen_scan = false
[rtabmap-11] [INFO] [1700831458.894371248] [locobot.rtabmap.rtabmap]: rtabmap: gen_depth = false
[rtabmap-11] [INFO] [1700831458.903408675] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Grid/MaxObstacleHeight"="0.7"
[rtabmap-11] [INFO] [1700831458.903521080] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Grid/RayTracing"="true"
[rtabmap-11] [INFO] [1700831458.904389009] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="True"
[rtabmap-11] [INFO] [1700831458.904432691] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="False"
[rtabmap-11] [INFO] [1700831458.904599556] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Mem/STMSize"="30"
[rtabmap-11] [INFO] [1700831458.904934395] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.01"
[rtabmap-11] [INFO] [1700831458.906665704] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.01"
[rtabmap-11] [INFO] [1700831458.906864256] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "RGBD/LocalRadius"="5"
[rtabmap-11] [INFO] [1700831458.907198852] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="true"
[rtabmap-11] [INFO] [1700831458.908029655] [locobot.rtabmap.rtabmap]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[rtabmap-11] [INFO] [1700831458.910584986] [locobot.rtabmap.rtabmap]: Update RTAB-Map parameter "RGBD/ProximityBySpace"="true--RGBD/ProximityPathMaxNeighbors" from arguments
[rtabmap-11] [WARN] [1700831458.910701317] [locobot.rtabmap.rtabmap]: Setting "Grid/Sensor" parameter to 0 (default 1) as "subscribe_scan" or "subscribe_scan_cloud" or "gen_scan" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/Sensor" to true. To suppress this warning, add <param name="Grid/Sensor" type="string" value="0"/>
[rtabmap-11] [INFO] [1700831458.910739284] [locobot.rtabmap.rtabmap]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" or "gen_scan" is true and Grid/Sensor is 0.
[rtabmap-11] [INFO] [1700831458.910946852] [locobot.rtabmap.rtabmap]: RTAB-Map detection rate = 1.000000 Hz
[rtabmap-11] [INFO] [1700831458.912703763] [locobot.rtabmap.rtabmap]: rtabmap: Deleted database "/home/locobot/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[rtabmap-11] [INFO] [1700831458.912769754] [locobot.rtabmap.rtabmap]: rtabmap: Using database from "/home/locobot/.ros/rtabmap.db" (0 MB).
[point_cloud_xyzrgb-10] [INFO] [1700831458.925359254] [locobot.rtabmap.point_cloud_xyzrgb]: Approximate time sync = false
[rtabmap-11] [INFO] [1700831458.995905937] [locobot.rtabmap.rtabmap]: rtabmap: Database version = "0.20.21".
[rtabmap-11] [INFO] [1700831458.995989556] [locobot.rtabmap.rtabmap]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[rtabmap-11] [INFO] [1700831459.004894232] [locobot.rtabmap.rtabmap]: Setup callbacks
[rtabmap-11] [INFO] [1700831459.004973276] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_depth = false
[rtabmap-11] [INFO] [1700831459.004990517] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_rgb = false
[rtabmap-11] [INFO] [1700831459.005000463] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_stereo = false
[rtabmap-11] [INFO] [1700831459.005009148] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_rgbd = true (rgbd_cameras=1)
[rtabmap-11] [INFO] [1700831459.005018572] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_odom_info = false
[rtabmap-11] [INFO] [1700831459.005027548] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_user_data = false
[rtabmap-11] [INFO] [1700831459.005035761] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_scan = true
[rtabmap-11] [INFO] [1700831459.005044054] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_scan_cloud = false
[rtabmap-11] [INFO] [1700831459.005052311] [locobot.rtabmap.rtabmap]: rtabmap: subscribe_scan_descriptor = false
[rtabmap-11] [INFO] [1700831459.005061428] [locobot.rtabmap.rtabmap]: rtabmap: queue_size = 10
[rtabmap-11] [INFO] [1700831459.005070143] [locobot.rtabmap.rtabmap]: rtabmap: qos_image = 0
[rtabmap-11] [INFO] [1700831459.005078943] [locobot.rtabmap.rtabmap]: rtabmap: qos_camera_info = 0
[rtabmap-11] [INFO] [1700831459.005087241] [locobot.rtabmap.rtabmap]: rtabmap: qos_scan = 1
[rtabmap-11] [INFO] [1700831459.005095523] [locobot.rtabmap.rtabmap]: rtabmap: qos_odom = 0
[rtabmap-11] [INFO] [1700831459.005103772] [locobot.rtabmap.rtabmap]: rtabmap: qos_user_data = 0
[rtabmap-11] [INFO] [1700831459.005112289] [locobot.rtabmap.rtabmap]: rtabmap: approx_sync = true
[rtabmap-11] [INFO] [1700831459.005405851] [locobot.rtabmap.rtabmap]: Setup rgbd callback
[rtabmap-11] [INFO] [1700831459.010293339] [locobot.rtabmap.rtabmap]:
[rtabmap-11] rtabmap subscribed to (approx sync):
[rtabmap-11] /locobot/rtabmap/rgbd_image \
[rtabmap-11] /locobot/scan
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] Warning: Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist
[rtabmap-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.5/src/buffer_core.cpp
[rtabmap-11] [ WARN] (2023-11-24 07:11:00.634) MsgConversion.cpp:1755::getTransform() (can transform locobot/odom -> locobot/base_footprint?) Invalid frame ID "locobot/base_footprint" passed to canTransform argument source_frame - frame does not exist. canTransform returned after 0.202281 timeout was 0.2. (wait_for_transform=0.200000)
Update: It seems that there are no transform between "locobot/odometry" and both "locobot/base_link" and "locobot/base_footprint" frames. If I create a static broadcaster with {traslation= 0 0 0; rotation= 0 0 0} for both "locobot/base_link" and "locobot/base_footprint" the navigation starts but the robot is not able to move
What happened?
Hi, I' ve followed the ros2 Nav tutorial but the navigation doesn't start. I don't know why, but It seems that ros2 is not able to see the topics related to the locobot. If I run the command:
ros2 topic list
I see only:The terminal print out some warnings related to rtabmap and rgbd_synch nodes (written in the log section).
I've already tried every step suggested in the Troubleshooting section but nothing works for me. I don't know how to solve the problem.
Robot Model
locobot_wx250s
Operating System
Ubuntu 20.04
ROS Distro
ROS 2 Galactic
Steps To Reproduce
Launching the command
ros2 launch interbotix_xslocobot_nav xslocobot_rtabmap.launch.py robot_model:=locobot_wx250s use_lidar:=true slam_mode:=mapping rtabmap_args:=-d
Relevant log output
Additional Info
When I made the ros2 installation on the locobot, the default control.launch.py file considered a wrong type of lidar (a2m12). I've change the default value with the correct one in my locobot (a2m8). Before this modification, even the lidar didn't work. After that, it started working. I don't know if there can be other possible problems related to the default launch files settings.