modify my mapper_params config file .yaml:
slam_toolbox:
ros__parameters:
Plugin params
solver_plugin: solver_plugins::CeresSolver
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
ceres_preconditioner: SCHUR_JACOBI
ceres_trust_strategy: LEVENBERG_MARQUARDT
ceres_dogleg_type: TRADITIONAL_DOGLEG
ceres_loss_function: None
# ROS Parameters
odom_frame: odom
map_frame: map
base_frame: base_footprint
scan_topic: /scan
mode: localization # mapping # localization
# if you'd like to immediately start continuing a map at a given pose
# or at the dock, but they are mutually exclusive, if pose is given
# will use pose
map_file_name: /home/Desktop/ros2_course/a
# map_start_pose: [-3.8019, -3.101, 0.0]
map_start_at_dock: true
debug_logging: false
throttle_scans: 1
transform_publish_period: 0.02 #if 0 never publishes odometry
map_update_interval: 5.0
resolution: 0.05
max_laser_range: 20.0 #for rastering images
minimum_time_interval: 0.5
transform_timeout: 0.2
tf_buffer_duration: 30.
stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
enable_interactive_mode: true
# General Parameters
use_scan_matching: true
use_scan_barycenter: true
minimum_travel_distance: 0.5
minimum_travel_heading: 0.5
scan_buffer_size: 10
scan_buffer_maximum_scan_distance: 10.0
link_match_minimum_response_fine: 0.1
link_scan_maximum_distance: 1.5
loop_search_maximum_distance: 3.0
do_loop_closing: true
loop_match_minimum_chain_size: 10
loop_match_maximum_variance_coarse: 3.0
loop_match_minimum_response_coarse: 0.35
loop_match_minimum_response_fine: 0.45
# Correlation Parameters - Correlation Parameters
correlation_search_space_dimension: 0.5
correlation_search_space_resolution: 0.01
correlation_search_space_smear_deviation: 0.1
# Correlation Parameters - Loop Closure Parameters
loop_search_space_dimension: 8.0
loop_search_space_resolution: 0.05
loop_search_space_smear_deviation: 0.03
# Scan Matcher Parameters
distance_variance_penalty: 0.5
angle_variance_penalty: 1.0
fine_search_angle_offset: 0.00349
coarse_search_angle_offset: 0.349
coarse_angle_resolution: 0.0349
minimum_angle_penalty: 0.9
minimum_distance_penalty: 0.5
use_response_expansion: true
and launch:
$ ros2 launch slam_toolbox online_async_launch.py params_file:=./src/my_bot/config/mapper_params_online_async.yaml
a is the name of the .posegraph and .data files of my previous mapping
Expected behavior
sow in rviz the previous mapping and continue mapping
Actual behavior
previous mapping is not loaded
Additional information
debug info from after launch:
[INFO] [launch]: All log files can be found below /home/adrianco/.ros/log/2023-06-27-01-00-24-785773-adrianco-GL65-9SEK-6505
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [async_slam_toolbox_node-1]: process started with pid [6506]
[async_slam_toolbox_node-1] [INFO] [1687820424.932904096] [slam_toolbox]: Node using stack size 40000000
[async_slam_toolbox_node-1] [INFO] [1687820425.383240763] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[async_slam_toolbox_node-1] [INFO] [1687820425.383550578] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[async_slam_toolbox_node-1] [INFO] [1687820425.467648777] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 477.477 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-1] [WARN] [1687820425.475592917] [slam_toolbox]: maximum laser range setting (20.0 m) exceeds the capabilities of the used Lidar (12.0 m)
[async_slam_toolbox_node-1] Registering sensor: [Custom Described Lidar]
[async_slam_toolbox_node-1] [INFO] [1687820425.762670391] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 477.777 for reason 'discarding message because the queue is full'
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[INFO] [async_slam_toolbox_node-1]: process has finished cleanly [pid 6506
SteveMacenski
commented
1 year ago
Required Info:
Steps to reproduce issue
modify my mapper_params config file .yaml: slam_toolbox: ros__parameters:
Plugin params
and launch: $ ros2 launch slam_toolbox online_async_launch.py params_file:=./src/my_bot/config/mapper_params_online_async.yaml
Expected behavior
sow in rviz the previous mapping and continue mapping
Actual behavior
previous mapping is not loaded
Additional information
debug info from after launch: [INFO] [launch]: All log files can be found below /home/adrianco/.ros/log/2023-06-27-01-00-24-785773-adrianco-GL65-9SEK-6505 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [async_slam_toolbox_node-1]: process started with pid [6506] [async_slam_toolbox_node-1] [INFO] [1687820424.932904096] [slam_toolbox]: Node using stack size 40000000 [async_slam_toolbox_node-1] [INFO] [1687820425.383240763] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver [async_slam_toolbox_node-1] [INFO] [1687820425.383550578] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner. [async_slam_toolbox_node-1] [INFO] [1687820425.467648777] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 477.477 for reason 'discarding message because the queue is full' [async_slam_toolbox_node-1] [WARN] [1687820425.475592917] [slam_toolbox]: maximum laser range setting (20.0 m) exceeds the capabilities of the used Lidar (12.0 m) [async_slam_toolbox_node-1] Registering sensor: [Custom Described Lidar] [async_slam_toolbox_node-1] [INFO] [1687820425.762670391] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 477.777 for reason 'discarding message because the queue is full' ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[INFO] [async_slam_toolbox_node-1]: process has finished cleanly [pid 6506