turtlebot3_gazebo: no "odom" frame

[doctorcolossus]

I am using ROS Noetic on Ubuntu 20.04.6 LTS 5.10.104-tegra on a Jetson NX.

My ultimate goal is to run the example launch file for leggedrobotics/elevation_mapping_cupy, which uses turtlebot3_gazebo in its sourced elevation_mapping_cupy/launch/turtlesim_init.launch.

export TURTLEBOT3_MODEL=waffle
roslaunch elevation_mapping_cupy turtlesim_simple_example.launch

It gives me a lot of errors like: "odom" passed to lookupTransform argument target_frame does not exist.

full log

$ export TURTLEBOT3_MODEL=waffle $ roslaunch elevation_mapping_cupy turtlesim_simple_example.launch PARAMETERS * /elevation_mapping/base_frame: base_footprint * /elevation_mapping/cleanup_cos_thresh: 0.1 * /elevation_mapping/cleanup_step: 0.1 * /elevation_mapping/corrected_map_frame: odom * /elevation_mapping/dilation_size: 3 * /elevation_mapping/dilation_size_initialize: 2 * /elevation_mapping/drift_compensation_alpha: 0.1 * /elevation_mapping/drift_compensation_variance_inler: 0.05 * /elevation_mapping/enable_drift_compensation: True * /elevation_mapping/enable_drift_corrected_TF_publishing: False * /elevation_mapping/enable_edge_sharpen: True * /elevation_mapping/enable_normal_color: False * /elevation_mapping/enable_overlap_clearance: True * /elevation_mapping/enable_pointcloud_publishing: False * /elevation_mapping/enable_visibility_cleanup: True * /elevation_mapping/image_channel_fusions/default: exponential * /elevation_mapping/image_channel_fusions/feat_.*: exponential * /elevation_mapping/image_channel_fusions/rgb: color * /elevation_mapping/initial_variance: 1000.0 * /elevation_mapping/initialize_frame_id: ['base_footprint'] * /elevation_mapping/initialize_method: linear * /elevation_mapping/initialize_tf_grid_size: 0.5 * /elevation_mapping/initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] * /elevation_mapping/mahalanobis_thresh: 2.0 * /elevation_mapping/map_acquire_fps: 5.0 * /elevation_mapping/map_frame: odom * /elevation_mapping/map_length: 8.0 * /elevation_mapping/max_drift: 0.1 * /elevation_mapping/max_height_range: 1.0 * /elevation_mapping/max_ray_length: 10.0 * /elevation_mapping/max_unsafe_n: 10 * /elevation_mapping/max_variance: 100.0 * /elevation_mapping/min_height_drift_cnt: 100 * /elevation_mapping/min_valid_distance: 0.5 * /elevation_mapping/orientation_lowpass_alpha: 0.2 * /elevation_mapping/orientation_noise_thresh: 0.01 * /elevation_mapping/outlier_variance: 0.01 * /elevation_mapping/overlap_clear_range_xy: 4.0 * /elevation_mapping/overlap_clear_range_z: 2.0 * /elevation_mapping/plugin_config_file: $(rospack find el... * /elevation_mapping/pointcloud_channel_fusions/default: average * /elevation_mapping/pointcloud_channel_fusions/rgb: color * /elevation_mapping/position_lowpass_alpha: 0.2 * /elevation_mapping/position_noise_thresh: 0.01 * /elevation_mapping/publish_statistics_fps: 1.0 * /elevation_mapping/publishers/elevation_map_filter/basic_layers: ['min_filter'] * /elevation_mapping/publishers/elevation_map_filter/fps: 3.0 * /elevation_mapping/publishers/elevation_map_filter/layers: ['min_filter', 's... * /elevation_mapping/publishers/elevation_map_raw/basic_layers: ['elevation'] * /elevation_mapping/publishers/elevation_map_raw/fps: 5.0 * /elevation_mapping/publishers/elevation_map_raw/layers: ['elevation', 'tr... * /elevation_mapping/ramped_height_range_a: 0.3 * /elevation_mapping/ramped_height_range_b: 1.0 * /elevation_mapping/ramped_height_range_c: 0.2 * /elevation_mapping/resolution: 0.04 * /elevation_mapping/safe_min_thresh: 0.4 * /elevation_mapping/safe_thresh: 0.7 * /elevation_mapping/sensor_noise_factor: 0.05 * /elevation_mapping/subscribers/front_cam/data_type: pointcloud * /elevation_mapping/subscribers/front_cam/topic_name: /camera/depth/points * /elevation_mapping/time_interval: 0.1 * /elevation_mapping/time_variance: 0.0001 * /elevation_mapping/traversability_inlier: 0.9 * /elevation_mapping/update_pose_fps: 10.0 * /elevation_mapping/update_variance_fps: 5.0 * /elevation_mapping/use_chainer: False * /elevation_mapping/use_initializer_at_start: True * /elevation_mapping/use_only_above_for_upper_bound: False * /elevation_mapping/wall_num_thresh: 20 * /elevation_mapping/weight_file: $(rospack find el... * /gazebo/enable_ros_network: True * /robot_description:

Meanwhile the turtlebot in gazebo remains as a white blob.

@ZhoZhicheng opened elevation_mapping_cupy issue 78 for the same problem, and maintainer @mktk1117 closed the issue, stating that it is a turtlebot issue and not their problem. I followed up with the @ZhoZhicheng, who confirmed that it did indeed turn out to be a turtlebot bug which which was supposedly "easy to solve", although they cannot recall how...

The tf tree looks like this: So clearly, as stated in the error, there is no 'odom' frame, which I guess is supposed to be there.

I found two issues, both unresolved, where people described the "odom" frame being disconnected from the rest of the tree: turtlebot3 issue 7790 and turtlebot3_simulations issue 214. In both of those issues, the "odom" frame exists, but is disconnected from the rest of the tree. For me, it doesn't appear to exist at all. In the first of those two issues, @ROBOTIS-Ashe advised installing all dependent ROS packages and @DingoOz advised remembering to source devel/setup.bash in the catkin build directory, but OP @abdur78 did not respond further, and the issue remains open three years later. But in my case, I had already remembered to source my /devel/setup.bash, as well as /opt/ros/noetic/setup.bash. Doing so again did not resolve the issue. I had apparently not installed all of the dependent ROS packages, but installing those did not resolve the issue either.

Before installing the missing dependent packages, I had these apt packages installed:

output of apt list --installed | grep "^ros" originally

ros-message-generation/focal ros-message-runtime/focal ros-noetic-actionlib-msgs/focal ros-noetic-actionlib-tutorials/focal ros-noetic-actionlib/focal ros-noetic-amcl/focal ros-noetic-angles/focal ros-noetic-base-local-planner/focal ros-noetic-bond-core/focal ros-noetic-bond/focal ros-noetic-bondcpp/focal ros-noetic-bondpy/focal ros-noetic-catkin/focal ros-noetic-class-loader/focal ros-noetic-clear-costmap-recovery/focal ros-noetic-cmake-modules/focal ros-noetic-common-msgs/focal ros-noetic-common-tutorials/focal ros-noetic-control-msgs/focal ros-noetic-costmap-2d/focal ros-noetic-cpp-common/focal ros-noetic-cv-bridge/focal ros-noetic-desktop/focal ros-noetic-diagnostic-aggregator/focal ros-noetic-diagnostic-analysis/focal ros-noetic-diagnostic-common-diagnostics/focal ros-noetic-diagnostic-msgs/focal ros-noetic-diagnostic-updater/focal ros-noetic-diagnostics/focal ros-noetic-dynamic-reconfigure/focal ros-noetic-eigen-conversions/focal ros-noetic-executive-smach/focal ros-noetic-filters/focal ros-noetic-gazebo-dev/focal ros-noetic-gazebo-msgs/focal ros-noetic-gazebo-ros/focal ros-noetic-gencpp/focal ros-noetic-geneus/focal ros-noetic-genlisp/focal ros-noetic-genmsg/focal ros-noetic-gennodejs/focal ros-noetic-genpy/focal ros-noetic-geometry-msgs/focal ros-noetic-geometry-tutorials/focal ros-noetic-geometry/focal ros-noetic-gl-dependency/focal ros-noetic-grid-map-core/focal ros-noetic-grid-map-cv/focal ros-noetic-grid-map-demos/focal ros-noetic-grid-map-filters/focal ros-noetic-grid-map-loader/focal ros-noetic-grid-map-msgs/focal ros-noetic-grid-map-octomap/focal ros-noetic-grid-map-ros/focal ros-noetic-grid-map-rviz-plugin/focal ros-noetic-grid-map-visualization/focal ros-noetic-grid-map/focal ros-noetic-hls-lfcd-lds-driver/focal ros-noetic-image-transport/focal ros-noetic-interactive-marker-tutorials/focal ros-noetic-interactive-markers/focal ros-noetic-joint-state-publisher-gui/focal ros-noetic-joint-state-publisher/focal ros-noetic-kdl-conversions/focal ros-noetic-kdl-parser/focal ros-noetic-laser-geometry/focal ros-noetic-librviz-tutorial/focal ros-noetic-map-msgs/focal ros-noetic-map-server/focal ros-noetic-media-export/focal ros-noetic-message-filters/focal ros-noetic-message-generation/focal ros-noetic-message-runtime/focal ros-noetic-mk/focal ros-noetic-move-base-msgs/focal ros-noetic-move-base/focal ros-noetic-nav-core/focal ros-noetic-nav-msgs/focal ros-noetic-navfn/focal ros-noetic-nodelet-core/focal ros-noetic-nodelet-topic-tools/focal ros-noetic-nodelet-tutorial-math/focal ros-noetic-nodelet/focal ros-noetic-octomap-mapping/focal ros-noetic-octomap-msgs/focal ros-noetic-octomap-ros/focal ros-noetic-octomap-server/focal ros-noetic-octomap/focal ros-noetic-pcl-conversions/focal ros-noetic-pcl-msgs/focal ros-noetic-pcl-ros/focal ros-noetic-pluginlib-tutorials/focal ros-noetic-pluginlib/focal ros-noetic-pybind11-catkin/focal ros-noetic-python-qt-binding/focal ros-noetic-qt-dotgraph/focal ros-noetic-qt-gui-cpp/focal ros-noetic-qt-gui-py-common/focal ros-noetic-qt-gui/focal ros-noetic-qwt-dependency/focal ros-noetic-resource-retriever/focal ros-noetic-robot-state-publisher/focal ros-noetic-robot/focal ros-noetic-ros-base/focal ros-noetic-ros-comm/focal ros-noetic-ros-core/focal ros-noetic-ros-environment/focal ros-noetic-ros-tutorials/focal ros-noetic-ros/focal ros-noetic-rosbag-migration-rule/focal ros-noetic-rosbag-storage/focal ros-noetic-rosbag/focal ros-noetic-rosbash/focal ros-noetic-rosboost-cfg/focal ros-noetic-rosbuild/focal ros-noetic-rosclean/focal ros-noetic-rosconsole-bridge/focal ros-noetic-rosconsole/focal ros-noetic-roscpp-core/focal ros-noetic-roscpp-serialization/focal ros-noetic-roscpp-traits/focal ros-noetic-roscpp-tutorials/focal ros-noetic-roscpp/focal ros-noetic-roscreate/focal ros-noetic-rosgraph-msgs/focal ros-noetic-rosgraph/focal ros-noetic-roslang/focal ros-noetic-roslaunch/focal ros-noetic-roslib/focal ros-noetic-roslint/focal ros-noetic-roslisp/focal ros-noetic-roslz4/focal ros-noetic-rosmake/focal ros-noetic-rosmaster/focal ros-noetic-rosmsg/focal ros-noetic-rosnode/focal ros-noetic-rosout/focal ros-noetic-rospack/focal ros-noetic-rosparam/focal ros-noetic-rospy-tutorials/focal ros-noetic-rospy/focal ros-noetic-rosserial-msgs/focal ros-noetic-rosserial-python/focal ros-noetic-rosservice/focal ros-noetic-rostest/focal ros-noetic-rostime/focal ros-noetic-rostopic/focal ros-noetic-rosunit/focal ros-noetic-roswtf/focal ros-noetic-rotate-recovery/focal ros-noetic-rqt-action/focal ros-noetic-rqt-bag-plugins/focal ros-noetic-rqt-bag/focal ros-noetic-rqt-common-plugins/focal ros-noetic-rqt-console/focal ros-noetic-rqt-dep/focal ros-noetic-rqt-graph/focal ros-noetic-rqt-gui-cpp/focal ros-noetic-rqt-gui-py/focal ros-noetic-rqt-gui/focal ros-noetic-rqt-image-view/focal ros-noetic-rqt-launch/focal ros-noetic-rqt-logger-level/focal ros-noetic-rqt-moveit/focal ros-noetic-rqt-msg/focal ros-noetic-rqt-nav-view/focal ros-noetic-rqt-plot/focal ros-noetic-rqt-pose-view/focal ros-noetic-rqt-publisher/focal ros-noetic-rqt-py-common/focal ros-noetic-rqt-py-console/focal ros-noetic-rqt-reconfigure/focal ros-noetic-rqt-robot-dashboard/focal ros-noetic-rqt-robot-monitor/focal ros-noetic-rqt-robot-plugins/focal ros-noetic-rqt-robot-steering/focal ros-noetic-rqt-runtime-monitor/focal ros-noetic-rqt-rviz/focal ros-noetic-rqt-service-caller/focal ros-noetic-rqt-shell/focal ros-noetic-rqt-srv/focal ros-noetic-rqt-tf-tree/focal ros-noetic-rqt-top/focal ros-noetic-rqt-topic/focal ros-noetic-rqt-web/focal ros-noetic-rqt/focal ros-noetic-rviz-plugin-tutorials/focal ros-noetic-rviz-python-tutorial/focal ros-noetic-rviz/focal ros-noetic-self-test/focal ros-noetic-sensor-msgs/focal ros-noetic-shape-msgs/focal ros-noetic-smach-msgs/focal ros-noetic-smach-ros/focal ros-noetic-smach/focal ros-noetic-smclib/focal ros-noetic-std-msgs/focal ros-noetic-std-srvs/focal ros-noetic-stereo-msgs/focal ros-noetic-tf-conversions/focal ros-noetic-tf2-eigen/focal ros-noetic-tf2-geometry-msgs/focal ros-noetic-tf2-kdl/focal ros-noetic-tf2-msgs/focal ros-noetic-tf2-py/focal ros-noetic-tf2-ros/focal ros-noetic-tf2-tools/focal ros-noetic-tf2/focal ros-noetic-tf/focal ros-noetic-topic-tools/focal ros-noetic-trajectory-msgs/focal ros-noetic-turtle-actionlib/focal ros-noetic-turtle-tf2/focal ros-noetic-turtle-tf/focal ros-noetic-turtlebot3-autorace-2020/focal ros-noetic-turtlebot3-autorace-camera/focal ros-noetic-turtlebot3-autorace-core/focal ros-noetic-turtlebot3-autorace-detect/focal ros-noetic-turtlebot3-autorace-driving/focal ros-noetic-turtlebot3-autorace-msgs/focal ros-noetic-turtlebot3-bringup-dbgsym/focal ros-noetic-turtlebot3-bringup/focal ros-noetic-turtlebot3-description/focal ros-noetic-turtlebot3-example/focal ros-noetic-turtlebot3-fake-dbgsym/focal ros-noetic-turtlebot3-fake/focal ros-noetic-turtlebot3-gazebo-dbgsym/focal ros-noetic-turtlebot3-gazebo/focal ros-noetic-turtlebot3-msgs/focal ros-noetic-turtlebot3-navigation/focal ros-noetic-turtlebot3-simulations/focal ros-noetic-turtlebot3-slam-dbgsym/focal ros-noetic-turtlebot3-slam/focal ros-noetic-turtlebot3-teleop/focal ros-noetic-turtlebot3/focal ros-noetic-turtlesim/focal ros-noetic-urdf-parser-plugin/focal ros-noetic-urdf-tutorial/focal ros-noetic-urdf/focal ros-noetic-velodyne-driver/focal ros-noetic-velodyne-laserscan/focal ros-noetic-velodyne-msgs/focal ros-noetic-velodyne-pointcloud/focal ros-noetic-velodyne/focal ros-noetic-visualization-marker-tutorials/focal ros-noetic-visualization-msgs/focal ros-noetic-visualization-tutorials/focal ros-noetic-viz/focal ros-noetic-voxel-grid/focal ros-noetic-webkit-dependency/focal ros-noetic-xacro/focal ros-noetic-xmlrpcpp/focal

[ZhoZhicheng]

It looks like a problem between turtlebot and gazebo. Perhaps you can check if ros-noetic-turtlebot3-gazebo is installed. If not, the model in gazebo may wrong.

[doctorcolossus]

Hi @ZhoZhicheng, thank you for your idea. I listed my ROS-related apt packages above, and as you can see, ros-noetic-turtlebot3-gazebo/focal is installed. What do you mean that the model in Gazebo may be wrong? Do you know how that could be checked or fixed?