Unable to build a map because self-location cannot be estimated

[M-renta]

ISSUE TEMPLATE ver. 0.4.0

1. Which TurtleBot3 platform do you use?

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

2. Which ROS is working with TurtleBot3?

   • [ ] ROS 1 Kinetic Kame
   • [ ] ROS 1 Melodic Morenia
   • [ ] ROS 1 Noetic Ninjemys
   • [ ] ROS 2 Dashing Diademata
   • [ ] ROS 2 Eloquent Elusor
   • [x] ROS 2 Foxy Fitzroy
   • [ ] etc (Please specify your ROS Version here)

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

   • [ ] Intel Joule 570x
   • [x] Raspberry Pi 3B+
   • [ ] Raspberry Pi 4
   • [ ] etc (Please specify your SBC here)

4. Which OS you installed on SBC?

   • [ ] Raspbian distributed by ROBOTIS
   • [ ] Ubuntu MATE (16.04/18.04/20.04)
   • [x] Ubuntu preinstalled server (18.04/20.04)
   • [ ] etc (Please specify your OS here)

5. Which OS you installed on Remote PC?

   • [ ] Ubuntu 16.04 LTS (Xenial Xerus)
   • [ ] Ubuntu 18.04 LTS (Bionic Beaver)
   • [x] Ubuntu 20.04 LTS (Focal Fossa)
   • [ ] Windows 10
   • [ ] MAC OS X (Specify version)
   • [ ] etc (Please specify your OS here)

6. Specify the software and firmware version(Can be found from Bringup messages)

   • Software version: [x.x.x]
   • Firmware version: [x.x.x]

7. Specify the commands or instructions to reproduce the issue.

   • ros2 launch turtlebot3_bringup robot.launch.py ros2 launch turtlebot3_cartographer cartographer.launch.py ros2 run turtlebot3_teleop teleop_keyboard Run this commands to move the robot

8. Copy and Paste the error messages on terminal.

   • no error message

9. Please describe the issue in detail.

   • When I run turtlebot3_bringup and turtlebot3_cartographer the robot works fine at first. However, after a while, the robot's self-position jumps and the map becomes misaligned.I uploaded an updated OpenCR ROS2 firmware V220127R1 (0.2.1), but it did not resolve this issue.

[ROBOTIS-Will]

Hi @M-renta

The latest OpenCR F/W for ROS2 Foxy is V230127R1 Please make sure that you have correctly removed existing files. To check the firmware version, you can use the command below on your RPi terminal.

$ ./opencr_ld_shell_arm view burger.opencr

The result should look something like below.

opencr_ld_shell ver 1.0.0
view firmware...
[  ] file name      : burger.opencr 
[  ] file size      : 136 KB
[  ] fw_name        : burger 
[  ] fw_ver         : V230127R1 

[Bggopal]

ISSUE TEMPLATE ver. 0.4.0

1. Which TurtleBot3 platform do you use?

   * [x]  Burger
   * [ ]  Waffle
   * [ ]  Waffle Pi

2. Which ROS is working with TurtleBot3?

   * [ ]  ROS 1 Kinetic Kame
   * [ ]  ROS 1 Melodic Morenia
   * [ ]  ROS 1 Noetic Ninjemys
   * [ ]  ROS 2 Dashing Diademata
   * [ ]  ROS 2 Eloquent Elusor
   * [x]  ROS 2 Foxy Fitzroy
   * [ ]  etc (Please specify your ROS Version here)

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

   * [ ]  Intel Joule 570x
   * [x]  Raspberry Pi 3B+
   * [ ]  Raspberry Pi 4
   * [ ]  etc (Please specify your SBC here)

4. Which OS you installed on SBC?

   * [ ]  Raspbian distributed by ROBOTIS
   * [ ]  Ubuntu MATE (16.04/18.04/20.04)
   * [x]  Ubuntu preinstalled server (18.04/20.04)
   * [ ]  etc (Please specify your OS here)

5. Which OS you installed on Remote PC?

   * [ ]  Ubuntu 16.04 LTS (Xenial Xerus)
   * [ ]  Ubuntu 18.04 LTS (Bionic Beaver)
   * [x]  Ubuntu 20.04 LTS (Focal Fossa)
   * [ ]  Windows 10
   * [ ]  MAC OS X (Specify version)
   * [ ]  etc (Please specify your OS here)

6. Specify the software and firmware version(Can be found from Bringup messages)

   * Software version: [x.x.x]
   * Firmware version: [x.x.x]

7. Specify the commands or instructions to reproduce the issue.

   * ros2 launch turtlebot3_bringup robot.launch.py
     ros2 launch turtlebot3_cartographer cartographer.launch.py
     ros2 run turtlebot3_teleop teleop_keyboard
     Run this commands to move the robot

8. Copy and Paste the error messages on terminal.

   * no error message

9. Please describe the issue in detail.

   * When I run turtlebot3_bringup and turtlebot3_cartographer the robot works fine at first. However, after a while, the robot's self-position jumps and the map becomes misaligned.I uploaded an updated OpenCR ROS2 firmware V220127R1 (0.2.1), but it did not resolve this issue.
     ![Screenshot from 2023-02-10 16-23-25](https://user-images.githubusercontent.com/124995287/218036949-62cc32d9-32f2-4f11-8be7-98f500983029.png)
     ![Screenshot from 2023-02-10 16-24-02](https://user-images.githubusercontent.com/124995287/218037019-a299ed35-509c-434c-835f-169753c3f10a.png)

Hi @M-renta ,

Were you able to overcome this issue. i am facing the same issue. Maps gets updated over time. And from my understanding i found that this happens due to time synchronization issue. I have raised the same issue, check this here

[Bggopal]

Hi @M-renta

The latest OpenCR F/W for ROS2 Foxy is V230127R1 Please make sure that you have correctly removed existing files. To check the firmware version, you can use the command below on your RPi terminal.

$ ./opencr_ld_shell_arm view burger.opencr

The result should look something like below.

opencr_ld_shell ver 1.0.0
view firmware...
[  ] file name    : burger.opencr 
[  ] file size    : 136 KB
[  ] fw_name      : burger 
[  ] fw_ver       : V230127R1 

Hi @ROBOTIS-Will

Does the firmware has any regards with this issue. Because a similar kind of issue i faced here #940 . And i tried tuning the parameters.