No map received after ira_laer_tools multi-laser output

Gavriel-CTO commented 1 year ago

Required Info:

Operating System:
- Ubunt 20.04
Installation type:
- binaries
ROS Version
- ROS1 Noetic
Version or commit hash:
- Version: 1.5.7-1focal.20230110.192323
Laser unit:
- Clearpath Husky Simulator with HUSKY_UST10_ENABLED=1 and HUSKY_UST10_SECONDARY_ENABLED=1

Steps to reproduce issue

Enable both virtual lidars

add this to launcher:

<node pkg="ira_laser_tools" name="laserscan_multi_merger" type="laserscan_multi_merger">
<param name="destination_frame" value="base_link"/>
<param name="scan_destination_topic" value="/scan"/>
<param name="laserscan_topics" value ="/front/scan /rear/scan" />
</node>

Expected behavior

I have verified with Rviz and Gmapping that the scans are being combined into the /scan topic and Gmapping will use the scans to build a map.
Actual behavior
slam_toolbox won't build a map using this method
Additional information
was hard to find info on the "destination_frame" param, maybe that has something to do with it?

SteveMacenski commented 1 year ago

That package isn't part of this project - please ask on ROS Answers or look at the data its producing. I can't tell you what the output of that particular package is to know why its not working. We expect a fully formed LaserScan message.

Gavriel-CTO commented 1 year ago

The data looks good, not sure that is the issue here.

gavriel@gavriel-cto:~$ rostopic info scan
Type: sensor_msgs/LaserScan

Publishers: 
 * /laserscan_multi_merger (http://gavriel-cto:45153/)

Subscribers: 
 * /slam_gmapping (http://gavriel-cto:38545/)
 * /rviz (http://gavriel-cto:34577/)
 * /move_base (http://gavriel-cto:33081/)

gavriel@gavriel-cto:~$ rostopic echo scan
header: 
  seq: 799
  stamp: 
    secs: 30
    nsecs: 604000000
  frame_id: "top_plate_link"
angle_min: -2.359999895095825
angle_max: 2.359999895095825
angle_increment: 0.005799999926239252
time_increment: 0.0
scan_time: 0.03333333134651184
range_min: 0.44999998807907104
range_max: 25.0
ranges: [26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 26.0, 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intensities: []
---

SteveMacenski commented 1 year ago

Your ranges being reported are outside of the range max value.

Gavriel-CTO commented 1 year ago

Seems they don't handle inf well and just put max+1...

Is the bigger issue that the intensities array is blank? The original data had the array populated with zeros...

SteveMacenski / slam_toolbox

No map received after ira_laer_tools multi-laser output #582

Steps to reproduce issue

Expected behavior

Actual behavior

Additional information