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JulioPlaced / active_graph_slam

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Warning on ubunto 20.04, Noetic #2

Closed MF-Ahmed closed 1 year ago

MF-Ahmed commented 1 year ago

Hello! I am getting the following warning after roslaunch graph_d_exploration graph_dopt.launch

[INFO] [1672932885.792008, 75.930000]: /filter: Filter is waiting for the map. [INFO] [1672932886.291723, 76.430000]: /filter: Filter is waiting for the map. I have edited the paths in graph_d_exploration/param/mapping_karto_g2o.yaml and graph_d_exploration/scripts/constants.py maybe I need to download a seperate g2o graph file? Thanks

JulioPlaced commented 1 year ago

Can you copy the files content and check if the .g2o is being saved in the directory you specified?

MF-Ahmed commented 1 year ago

Thanks, yes a .g2o file is being saved in specified in the specified location but its empty. There are my paths

for graph_d_exploration/param/mapping_karto_g2o.yaml graph_dir: /home/usr/data/git/active_graph_slam/graph.g2o

& for graph_d_exploration/scripts/constants.py GRAPHPATH = "/home/usr/git/active_graph_slam/graph.g2o"

which saved the .g2o file in /home/usr/data/git/active_graph_slam

I think the filter.py cannot find the .g2o file to read, perhaps I need to download a .g2o map file separately

JulioPlaced commented 1 year ago

The path must be the same in the two files. Otherwise the .g2o file that the SLAM module saves will not be found by the decision maker module.

MF-Ahmed commented 1 year ago

Now both the files have the same path as "/home/usr/data/git/active_graph_slam/map/graphh.g2o" --> constants.py /home/usr/data/git/active_graph_slam/map/graphh.g2o --> mapping_karto_g2o.yaml the .g2o file is created in /home/usr/data/git/active_graph_slam/map/graphh.g2o but its empty! and the same warning appears INFO] [1673018053.547489, 24.020000]: /filter: Filter is waiting for the map.

JulioPlaced commented 1 year ago

I assume that you cannot see the laser scan in Rviz (nor the gridmap thus). In that case it is probably related to your GPU compatibility with Gazebo/ROS gpu_ray plugin. Try the following:

This way you will be using CPU instead.

MF-Ahmed commented 1 year ago

ok I modified the file, now everything is working fine. Thanks a lot