Cartographer fails to build map in Turtlebot3 - Burger

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

4. Which OS you installed on SBC?

   • [x] Raspbian distributed by ROBOTIS
   • [ ] Ubuntu MATE (16.04/18.04/20.04)
   • [ ] 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.

   • roslaunch turtlebot3_slam turtlebot3_slam.launch

8. Copy and Paste the error messages on terminal.

   • [WARN] [1675596198.090607276] [cartographer_ros]: W0205 16:53:18.000000 7481 tf_bridge.cc:67] Lookup would require extrapolation into the future. Requested time 1675596196.772070 but the latest data is at time 1675596191.596432, when looking up transform from frame [odom] to frame [imu_link][cartographer_node-1]

   • [rviz2]: Message Filter dropping message: frame 'odom' at time 1675594786.414 for reason 'Unknown'

9. Please describe the issue in detail.

Hi all,

I am using turtlebot3=burger and cartographer to create a map of the environment, using the launch file. In half way through the process, map updating fails giving me a error like this. And i get a half constructed map, i have refered to the tuning guides of turtlebot3 in this Reference

If someone could guide me properly on this issue would be helpful

[Bggopal]

Hi all, I was able to fix this issue when i upgraded the openCR firmware to V230127R1. Multiple map creation is fixed and single map is created now, but still the map fails and moves to different point co-ordinates, as the robot moves. Any help in this will be grateful @ROBOTIS-Will

[ROBOTIS-Will]

Hi @Bggopal I'm sorry about the delayed response as I'm currently on a business trip. Could you explain a little bit more about "the map fails and moves to different point co-ordinates"? If you can provide a youtube video link or captured images, that would be great. Thanks!

[Bggopal]

Hi @Bggopal I'm sorry about the delayed response as I'm currently on a business trip. Could you explain a little bit more about "the map fails and moves to different point co-ordinates"? If you can provide a youtube video link or captured images, that would be great. Thanks!

Hi @ROBOTIS-Will

Thank you for your response. I have attached few screenshot for your better understanding.

What i tried to mean by "the map fails and moves to different point co-ordinates" is was this, as the cartographer node is launched, initially the map creation look like this,

Later as the robot moves mapping the environment, the map also moves from the initial position to different position. Like this as shown below.

Unlike the previous case, multiple maps are not created, but the created map moves gradually from the initial position like this.

Updating the firmware doesn't helped in this case. Also if it has anything to do with tuning the parameter. Any help in this would be greatful. Thanks!

[Bggopal]

Hi all,

As mentioned in the #899 ,

I tired out downgrading the OpenCR firmware to 0.0.3 , and run. I got reilable result. View the attached images for better understanding.

While time of creating the map,

And this is how it looked in the end

Relatively , it is ok. But not sure whether i am mistaken or the OpenCr firmware is , in the new version V230127R1

@ROBOTIS-Ashe @ROBOTIS-Will

[GitHubGM]

@Bggopal can you tell me how to downgrade it? I have same problem as yours

[Bggopal]

Hi @GitHubGM

u can use

$ : wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS2/0.0.3/opencr_update.tar.bz2
$ : tar -xjf ./opencr_update.tar.bz2
$ : cd opencr_update/
$ : /opencr_update$ ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr

don't forget to use the model of the robot (burger). also instead of the 0.0.3 use your desired version

[GitHubGM]

@Bggopal thank you for trying to help me, it didn't help, maybe I have some other problem

[Bggopal]

Hi @GitHubGM which version u used ??

[GitHubGM]

@Bggopal 0.0.3

[Bggopal]

go for 1.5.0 and check again.

[GitHubGM]

@Bggopal I went to the latest version, same problem

[Bggopal]

@Bggopal I went to the latest version, same problem

latest will cause the problem, either you use the version released in oct 2022 or before that.