if the slam_gmapping can run in ros2 Dashing?

[WangFengtu1996]

I installed docker,then i pull the ros: dashing-ros-base. Then, I download the source code from github. When i execute ros2 launch slam_gmapping slam_gmapping.launch.py ,but i got malformed launch argument 'slam_gmapping.launch.py', expected format ':=' . So, I want to know if the slam_gampping can run in ros2 Dashing? if can ,how should i do thanks for your help.

[WangFengtu1996]

Then， I execute ros2 launch slam_gmapping slam_gmapping.launch.py in ros2 crystal installed in docker. But I got malformed launch argument 'slam_gmapping.launch.py', expected format ':=' So , how should i do ? Thanks for your time.

[shiveshkhaitan]

slam_gmapping should work on both crystal and dashing. It works fine with both source built and debian packages. Are you supplying any additional arguments after the command?

ros2 launch slam_gmapping slam_gmapping.launch.py

There should not be any additional arguments provided.

[WangFengtu1996]

Thanks for your time. NO, I just execute the command.

ros2 launch slam_gmapping slam_gmapping.launch.py

but I got

malformed launch argument 'slam_gmapping.launch.py', expected format '<name>:=<value>'

I don't konw what I should do .

[shiveshkhaitan]

The launch file currently just runs the node slam_gmapping.

Can you try ros2 run slam_gmapping slam_gmapping?

[WangFengtu1996]

Thanks for you time. but it does not work . can't find slam_gmapping

[shiveshkhaitan]

This error should come up only if:

• either the package is not built
• or the workspace is not sourced

[WangFengtu1996]

Thanks for your time. Yes,I did not build the package. But, when I execute ros2 launch slam_gmapping slam_gmapping.launch.py, I got the error undefined symbol: _ZN7tf2_ros20TransformBroadcaster13sendTransformERKN13geometry_msgs3msg17TransformStamped_ISaIvEEE When I execute ros2 run slam_gmapping slam_gmapping I also got undefined symbol: _ZN7tf2_ros20TransformBroadcaster13sendTransformERKN13geometry_msgs3msg17TransformStamped_ISaIvEEE

I want to know the error because of the building warning. `Starting >>> openslam_gmapping Finished <<< openslam_gmapping [6.65s]
Starting >>> slam_gmapping --- stderr: slam_gmapping
In file included from /opt/ros/dashing/include/tf2/utils.h:20:0, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:41, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /opt/ros/dashing/include/tf2/impl/utils.h:114:2: warning: extra ‘;’ [-Wpedantic] }; ^ /opt/ros/dashing/include/tf2/impl/utils.h:148:2: warning: extra ‘;’ [-Wpedantic] }; ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:9:0, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/particlefilter/particlefilter.h: In function ‘void rle(OutputIterator&, const Iterator&, const Iterator&)’: /root/ros2_ws/install/openslam_gmapping/include/gmapping/particlefilter/particlefilter.h:140:2: warning: this ‘if’ clause does not guard... [-Wmisleading-indentation] if (count>0) ^~ /root/ros2_ws/install/openslam_gmapping/include/gmapping/particlefilter/particlefilter.h:142:3: note: ...this statement, but the latter is misleadingly indented as if it were guarded by the ‘if’ out++; ^~~ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:10:0, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/utils/point.h: At global scope: /root/ros2_ws/install/openslam_gmapping/include/gmapping/utils/point.h:205:2: warning: extra ‘;’ [-Wpedantic] }; //end namespace ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/sensor/sensor_base/sensorreading.h:4:0, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/log/sensorlog.h:6, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:12, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/sensor/sensor_base/sensor.h:21:2: warning: extra ‘;’ [-Wpedantic] }; //end namespace ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/log/sensorlog.h:6:0, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:12, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/sensor/sensor_base/sensorreading.h:23:2: warning: extra ‘;’ [-Wpedantic] }; //end namespace ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/log/sensorlog.h:7:0, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:12, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/sensor/sensor_odometry/odometrysensor.h:17:2: warning: extra ‘;’ [-Wpedantic] }; ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/log/sensorlog.h:8:0, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:12, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/sensor/sensor_range/rangesensor.h:33:2: warning: extra ‘;’ [-Wpedantic] }; ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/log/sensorlog.h:9:0, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:12, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/sensor/sensor_odometry/odometryreading.h:27:2: warning: extra ‘;’ [-Wpedantic] }; ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/log/sensorlog.h:10:0, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:12, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/sensor/sensor_range/rangereading.h:24:2: warning: extra ‘;’ [-Wpedantic] }; ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/log/sensorlog.h:11:0, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:12, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/log/configuration.h:15:2: warning: extra ‘;’ [-Wpedantic] }; ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:12:0, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/log/sensorlog.h:27:2: warning: extra ‘;’ [-Wpedantic] }; ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/grid/map.h:5:0, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/smmap.h:3, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/scanmatcher.h:5, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:15, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/grid/accessstate.h:6:2: warning: extra ‘;’ [-Wpedantic] }; ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/grid/map.h:6:0, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/smmap.h:3, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/scanmatcher.h:5, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:15, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/grid/array2d.h:185:2: warning: extra ‘;’ [-Wpedantic] }; ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/smmap.h:3:0, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/scanmatcher.h:5, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:15, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/grid/map.h:262:2: warning: extra ‘;’ [-Wpedantic] }; ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/grid/harray2d.h:5:0, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/smmap.h:4, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/scanmatcher.h:5, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:15, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/utils/autoptr.h:96:2: warning: extra ‘;’ [-Wpedantic] }; ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/smmap.h:4:0, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/scanmatcher.h:5, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:15, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/grid/harray2d.h:197:2: warning: extra ‘;’ [-Wpedantic] }; ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/scanmatcher.h:5:0, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:15, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/smmap.h:52:2: warning: extra ‘;’ [-Wpedantic] }; ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/scanmatcher.h:7:0, from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:15, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/utils/stat.h:145:2: warning: extra ‘;’ [-Wpedantic] }; //end namespace ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:15:0, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/scanmatcher.h:250:2: warning: extra ‘;’ [-Wpedantic] }; ^ In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:16:0, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/motionmodel.h:17:2: warning: extra ‘;’ [-Wpedantic] }; ^ In file included from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45:0, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:335:2: warning: extra ‘;’ [-Wpedantic] }; ^ /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp: In member function ‘void SlamGmapping::startLiveSlam()’: /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:95:82: warning: ‘std::shared_ptr rclcpp::Node::create_publisher(const string&, const rmw_qos_profile_t&, std::shared_ptr<_Up>) [with MessageT = stdmsgs::msg::Float64<std::allocator >; AllocatorT = std::allocator; PublisherT = rclcpp::Publisher<stdmsgs::msg::Float64<std::allocator > >; std::cxx11::string = std::cxx11::basic_string; rmw_qos_profile_t = rmw_qos_profile_t]’ is deprecated: use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead [-Wdeprecated-declarations] entropypublisher = this->create_publisher("entropy"); ^ In file included from /opt/ros/dashing/include/rclcpp/node.hpp:1206:0, from /opt/ros/dashing/include/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/dashing/include/rclcpp/executors.hpp:22, from /opt/ros/dashing/include/rclcpp/rclcpp.hpp:144, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:30, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /opt/ros/dashing/include/rclcpp/node_impl.hpp:96:1: note: declared here Node::create_publisher( ^~~~ /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:96:70: warning: ‘std::shared_ptr rclcpp::Node::create_publisher(const string&, const rmw_qos_profile_t&, std::shared_ptr<_Up>) [with MessageT = navmsgs::msg::OccupancyGrid<std::allocator >; AllocatorT = std::allocator; PublisherT = rclcpp::Publisher<navmsgs::msg::OccupancyGrid<std::allocator > >; std::cxx11::string = std::cxx11::basic_string; rmw_qos_profile_t = rmw_qos_profile_t]’ is deprecated: use createpublisher(const std::string &, const rclcpp::QoS &, ...) instead [-Wdeprecated-declarations] sst = this->create_publisher("map"); ^ In file included from /opt/ros/dashing/include/rclcpp/node.hpp:1206:0, from /opt/ros/dashing/include/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/dashing/include/rclcpp/executors.hpp:22, from /opt/ros/dashing/include/rclcpp/rclcpp.hpp:144, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:30, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /opt/ros/dashing/include/rclcpp/node_impl.hpp:96:1: note: declared here Node::create_publisher( ^~~~ /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:97:78: warning: ‘std::shared_ptr rclcpp::Node::create_publisher(const string&, const rmw_qos_profile_t&, std::shared_ptr<_Up>) [with MessageT = navmsgs::msg::MapMetaData<std::allocator >; AllocatorT = std::allocator; PublisherT = rclcpp::Publisher<navmsgs::msg::MapMetaData<std::allocator > >; std::cxx11::string = std::cxx11::basic_string; rmw_qos_profile_t = rmw_qos_profile_t]’ is deprecated: use createpublisher(const std::string &, const rclcpp::QoS &, ...) instead [-Wdeprecated-declarations] sstm = this->create_publisher("map_metadata"); ^ In file included from /opt/ros/dashing/include/rclcpp/node.hpp:1206:0, from /opt/ros/dashing/include/rclcpp/executors/single_threaded_executor.hpp:28, from /opt/ros/dashing/include/rclcpp/executors.hpp:22, from /opt/ros/dashing/include/rclcpp/rclcpp.hpp:144, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:30, from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24: /opt/ros/dashing/include/rclcpp/node_impl.hpp:96:1: note: declared here Node::create_publisher( ^~~~

Finished <<< slam_gmapping [8.76s] `

[shiveshkhaitan]

slam_gmapping is unable to find the definition of tf2_ros. Can you check if has it been built correctly?