search

ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
Apache License 2.0
1.49k stars 1.02k forks source link

SLAM algorithms doesn't work on a bagfile #607

Open Dhaour9x opened 4 years ago

Dhaour9x commented 4 years ago

ISSUE TEMPLATE ver. 0.3.0

  1. Which TurtleBot3 you have?

    • [ ] Burger
    • [x ] Waffle
    • [ ] Waffle Pi

  2. Which ROS is working with TurtleBot3?

    • [ x] ROS 1 Kinetic Kame
    • [ ] ROS 1 Melodic Morenia
    • [ ] ROS 2 Dashing Diademata
    • [ ] ROS 2 Eloquent Elusor
    • [ ] etc (PLEASE, WRITE DOWN YOUR ROS VERSION HERE)

  3. Which SBC(Single Board Computer) is working on TurtleBot3?

    • [ x] Raspberry Pi 3
    • [ ] Intel Joule 570x
    • [ ] etc (PLEASE, WRITE DOWN YOUR SBC HERE)

  4. Which OS you installed in SBC?

    • [ ] Raspbian
    • [x ] Ubuntu MATE 16.04 or later
    • [ ] Ubuntu Server 18.04 or later
    • [ ] etc (PLEASE, WRITE DOWN YOUR OS)

  5. Which OS you installed in Remote PC?

    • [ x] Ubuntu 16.04 LTS (Xenial Xerus)
    • [ ] Ubuntu 18.04 LTS (Bionic Beaver)
    • [ ] Linux Mint 18.x
    • [ ] Linux Mint 19.x
    • [ ] etc (PLEASE, WRITE DOWN YOUR OS)

  6. Write down the commands you used in order

$ roscore
$ export TURTLEBOT3_MODEL=waffle
$ roslaunch turtlebot3_bringup turtlebot3_remote.launch
$ export TURTLEBOT3_MODEL=waffle
$ rosrun rviz rviz -d `rospack find turtlebot3_slam`/rviz/turtlebot3_slam.rviz
$ roscd turtlebot3_slam/bag
$ rosbag play ./ground.bag
  1. Copy and Paste your error message on terminal rvizerror

rosrun rviz rviz -d `rospack find turtlebot3_slam`/rviz/turtlebot3_slam.rviz

[ INFO] [1592939181.850658835]: rviz version 1.12.17
[ INFO] [1592939181.850723068]: compiled against Qt version 5.5.1
[ INFO] [1592939181.850731910]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1592939181.994656277]: Stereo is NOT SUPPORTED
[ INFO] [1592939181.994763535]: OpenGl version: 3 (GLSL 1.3).

  1. Please, describe detailedly what difficulty you are in I have tried to execute different SLAM on .bag file, which I have already recorded ground.bag I have recorded bag file from simulation environment using the following commands:

  2. roslaunch turtlebot3_gazebo navibot_world.launch

gazeboEnvi

  1. roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
  2. rosbag record -o ground /scan /tf /odom

I hope you can help me

ROBOTIS-Will commented 4 years ago

@Dhaour9x Hi, please allow me some time to review this. I'll get back to you as soon as possible. Thanks!

Dhaour9x commented 4 years ago

Thank you @ROBOTIS-Will I am looking forward to your support 👍 -)

ROBOTIS-Will commented 4 years ago

Hi, I'm sorry about the late reply. One of our engineers suggested to record the map data, since fixed frame is based on the map. The tf may not be connected among scan, odom and the map.

Dhaour9x commented 4 years ago

Thank you for your feedback @ROBOTIS-Will I have recorded a bag file ![groundTh.bag](https://drive.google.com/file/d/1cDEkcxOhhCL0w9krr1ozmeZVCELl7JsN/view?usp=sharing with following topics: /tf /odom /map /scan. The First issue is the message timestamps on the bag are set to the beginning of UNIX time (Jan 1 1970). rosbag info groundTh.bag

path:        groundTh.bag
version:     2.0
duration:    6:39s (399s)
start:       Jan 01 1970 01:09:21.55 (561.55)
end:         Jan 01 1970 01:16:00.66 (960.66)
size:        16.4 MB
messages:    25943
compression: none [22/22 chunks]
types:       nav_msgs/Odometry     [cd5e73d190d741a2f92e81eda573aca7]
             sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369]
             tf2_msgs/TFMessage    [94810edda583a504dfda3829e70d7eec]
topics:      /odom   11974 msgs    : nav_msgs/Odometry    
             /scan    1995 msgs    : sensor_msgs/LaserScan
             /tf     11974 msgs    : tf2_msgs/TFMessage

How can I correct the timestamps? I'm trying to launch the .bag file in the same SLAM launch file, How can I do that in turtlebot3_slam.launch file

Another Issue is the wheels link have no tf (see pic) issue

So for launching SLAM on bag file I have used the following commands:

roslaunch turtlebot3_slam turtlebot3_slam slam_methods:=gmapping 
rosbag play groundTh.bag --clock

Is this correct or are there other launch files I need to run too??

Thank you

Dhaour9x commented 4 years ago

@ROBOTIS-Will can you please give me the solution for this issue. When I run rosrun rqt_tf_tree rqt_tf_tree, it dosn't show the Wheels Tf tf_tree

I am looking forward to your reply

Dhaour9x commented 4 years ago

@ROBOTIS-Will please I need your help to solve this issue Thank you

ROBOTIS-Will commented 4 years ago

@Dhaour9x I'm sorry about the delayed response. I'll try to replicate your issue and get back to you. Thank you for your patience!

Dhaour9x commented 4 years ago

Thank you @ROBOTIS-Will I'm looking forward for your feedback

ROBOTIS-Will commented 3 years ago

@Dhaour9x I'm sorry for the late check in, but have you resolved this issue?

Dhaour9x commented 3 years ago

not yet, I still have the issue