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ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
Apache License 2.0
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No map received in Rviz using Turtlebot3 in Gazebo- Reopen issue #742

Open nagarjunvinukonda opened 3 years ago

nagarjunvinukonda commented 3 years ago

Hi, I am facing the same problem. can this issue be reopened?

I am using ROS melodic 18.0.4.

I am trying to gmap the turtlebot3_world.launch file using the command: roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping But, I am having trouble with No map received:

As @routiful told above I dont find any mistake in my terminal while I launch gmapping, THis is the following output in my terminal :

` nagarjunv@nagarjunv-Inspiron-7580:~/hk_ws$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping ... logging to /home/nagarjunv/.ros/log/891ec6d0-b42e-11eb-90d9-3c6aa7417fe4/roslaunch-nagarjunv-Inspiron-7580-12859.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://nagarjunv-Inspiron-7580:38227/

SUMMARY

PARAMETERS

NODES / robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz (rviz/rviz) turtlebot3_slam_gmapping (gmapping/slam_gmapping)

ROS_MASTER_URI=http://localhost:11311

process[robot_state_publisher-1]: started with pid [12894] process[turtlebot3_slam_gmapping-2]: started with pid [12895] process[rviz-3]: started with pid [12896]

` The following are the images from Rviz: gmaaping_error

I have downloaded Turtlebot Simulations and turtlebot3 packages from the following link:

https://github.com/ROBOTIS-GIT/turtlebot3_simulations https://github.com/ROBOTIS-GIT/turtlebot3

I have freshly downloaded the above packages and catkin_make. But still don't work while doing mapping.

The following is image of rqt_graph:

rqt_graph

THe following is image of tf_tree:

tf_free

Can anyone please let me know what exactly is the problem and how to solve it?

ROBOTIS-Will commented 3 years ago

@nagarjunvinukonda I just downloaded the latest source code and built and ran, but seems okay to me. Terminal 1

$ roslaunch turtlebot3_gazebo turtlebot3_world.launch

Terminal 2

$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

Could you give us a specific steps to reproduce your issue? image

nagarjunvinukonda commented 3 years ago

Hello ROBOTIS-Will,

Thanks for reaching out. Sorry for the late response. Yes, I have checked even with my peers, it's surprising for me why its happening for my system. Its not just for me but I have seen online this problem is happening for others too.

I have seen the ros topics, over there the laser data is not been subscribed by gmapping package even though gazebo is publishing. Hence, the map is not been received. I dont understand why it is not subscribing.

One of the solutions I found is to reinstall the ROS. Since even though I have installed the package couple of times it still doesn't give results.

I am thinking it might be because the gmapping package doesn't subscribe GPU laser scans. It only subscribes to normal rays.

ROBOTIS-Will commented 3 years ago

I don't see a /tf message in your node graph. Could you check if you have installed tf on your machine?

$ sudo apt install ros-melodic-tf