Can't get live map with rplidar

[Rhonins]

Hello , I am trying to make 2d map with 2D lidar and want to see it on my Jetson nano.

I have ubuntu 18.04 installed all ros packages etc.

I can run demo files with bag but I am not able to get live mapping with my RPlidar a2. Also I can run rplidar's launch file and able to see working lidar. After I launch file I am running rplidar from different wotkspace and providing scan topic.

When I run rviz: I am getting "no map received" error

lua :

`-- Copyright 2016 The Cartographer Authors
--
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
--
--      http://www.apache.org/licenses/LICENSE-2.0
--
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,
-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-- See the License for the specific language governing permissions and
-- limitations under the License.

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "horizontal_laser_link",
  published_frame = "horizontal_laser_link",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35
TRAJECTORY_BUILDER_2D.min_range = 0.3
TRAJECTORY_BUILDER_2D.max_range = 8.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1

POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 35
POSE_GRAPH.constraint_builder.min_score = 0.65

return options`

urdf :

`<!--
  Copyright 2016 The Cartographer Authors

  Licensed under the Apache License, Version 2.0 (the "License");
  you may not use this file except in compliance with the License.
  You may obtain a copy of the License at

       http://www.apache.org/licenses/LICENSE-2.0

  Unless required by applicable law or agreed to in writing, software
  distributed under the License is distributed on an "AS IS" BASIS,
  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  See the License for the specific language governing permissions and
  limitations under the License.
-->

<robot name="3seviye">
  <material name="orange">
    <color rgba="1.0 0.5 0.2 1" />
  </material>
  <material name="gray">
    <color rgba="0.2 0.2 0.2 1" />
  </material>

  <link name="imu_link">
    <visual>
      <origin xyz="0 0 0" />
      <geometry>
        <box size="0.06 0.04 0.02" />
      </geometry>
      <material name="orange" />
    </visual>
  </link>

  <link name="horizontal_laser_link">
    <visual>
      <origin xyz="0 0 0" />
      <geometry>
        <cylinder length="0.05" radius="0.03" />
      </geometry>
      <material name="gray" />
    </visual>
  </link>

  <link name="vertical_laser_link">
    <visual>
      <origin xyz="0 0 0" />
      <geometry>
        <cylinder length="0.05" radius="0.03" />
      </geometry>
      <material name="gray" />
    </visual>
  </link>

  <link name="base_link" />

  <joint name="imu_link_joint" type="fixed">
    <parent link="base_link" />
    <child link="imu_link" />
    <origin xyz="0 0 0" />
  </joint>

  <joint name="horizontal_laser_link_joint" type="fixed">
    <parent link="base_link" />
    <child link="horizontal_laser_link" />
    <origin xyz="0.1007 0 0.0558" />
  </joint>

  <joint name="vertical_laser_link_joint" type="fixed">
    <parent link="base_link" />
    <child link="vertical_laser_link" />
    <origin rpy="0 -1.570796 3.141593" xyz="0.1007 0 0.1814" />
  </joint>
</robot>`

launch :

`<!--
  Copyright 2016 The Cartographer Authors

  Licensed under the Apache License, Version 2.0 (the "License");
  you may not use this file except in compliance with the License.
  You may obtain a copy of the License at

       http://www.apache.org/licenses/LICENSE-2.0

  Unless required by applicable law or agreed to in writing, software
  distributed under the License is distributed on an "AS IS" BASIS,
  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  See the License for the specific language governing permissions and
  limitations under the License.
-->

<launch>
  <param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/3seviye.urdf" />

  <node name="robot_state_publisher" pkg="robot_state_publisher"
    type="robot_state_publisher" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename 3seviye.lua"
      output="screen">
    <remap from="scan" to="horizontal_laser_2d" />
  </node>
<node name="laser" pkg="tf"
type="static_transform_publisher" args="0.07 0 0 0 0 0 1 base_link laser 50"/>
  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
</launch>`

rqt without tf:

rqt with tf:

rqt tree:

if I delete remap

`<remap from="scan" to="horizontal_laser_2d" />
`

getting this warning : [ WARN] [1565309034.876346755]: W0808 20:03:54.000000 12798 tf_bridge.cc:52] Could not find a connection between 'horizontal_laser_link' and 'laser' because they are not part of the same tree.Tf has two or more unconnected trees.

with remap

without remapping I am getting same warning but receiving 1 frame map from lidar and output : [ WARN] [1565310984.655217353]: W0808 20:36:24.000000 15927 tf_bridge.cc:52] Lookup would require extrapolation at time 1565310984.652836500, but only time 1565310984.688652707 is in the buffer, when looking up transform from frame [laser] to frame [horizontal_laser_link] [ INFO] [1565310984.734831600]: I0808 20:36:24.000000 15927 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '637009077847330972'. [ INFO] [1565310984.735268367]: I0808 20:36:24.000000 15927 local_trajectory_builder_2d.cc:138] Extrapolator is still initializing. [ WARN] [1565310985.112501488]: W0808 20:36:25.000000 15927 tf_bridge.cc:52] Could not find a connection between 'horizontal_laser_link' and 'laser' because they are not part of the same tree.Tf has two or more unconnected trees.

without remap /// map topic

you can see red rplidar laser scan : without remap /// laser topic

new tree looks like this

How can I get 2d mapping only with the RPLidar working?

Thanks.

[jonra1993]

Hi @Rhonins could you help this issue. I am facing the same problem with a ydLidar X4.

https://user-images.githubusercontent.com/23468720/64069513-41faa880-cc10-11e9-8003-8db3162aede2.png

[jgaud]

@jonra1993 Did you figure out how to set it up? I am running into the same issue.

Thanks.

[jonra1993]

Hi @jgaud yes I solve it for my ydlidar X4. Refer to this pull request https://github.com/EAIBOT/ydlidar/pull/15 . Other recommendation if your using system with a pc and Raspberry, check that both systems have same time.

[jgaud]

@jonra1993 Thanks for your help, I will look into it!

[MichaelGrupp]

@Rhonins remap is required. Cartographer expects certain topic names depending on how many lasers you use, see rosnode info /cartographer_node. Other than that, I can't help much with a custom setup besides the answers that were given from the other users.