gazebo demo fail

[dwindy]

I am following the tutorial of turtlebot3. running the simulation with cartographer. roslaunch turtlebot3_gazebo turtlebot3_world.launch and roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer

The terminal outputs SUMMARY like parameters, nodes, bla bla bla then a FATAL

`ROS_MASTER_URI=http://localhost:11311

process[robot_state_publisher-1]: started with pid [30707] process[move_base-2]: started with pid [30708] process[cartographer_node-3]: started with pid [30710] process[cartographer_occupancy_grid_node-4]: started with pid [30716] process[flat_world_imu_node-5]: started with pid [30723] process[rviz-6]: started with pid [30741] [ INFO] [1580949011.982558804]: I0206 00:30:11.000000 30710 configuration_file_resolver.cc:41] Found '/home/bingxin/catkin_ws/install_isolated/share/turtlebot3_slam/config/turtlebot3_lds_2d.lua' for 'turtlebot3_lds_2d.lua'. [ INFO] [1580949011.983794964]: I0206 00:30:11.000000 30710 configuration_file_resolver.cc:41] Found '/home/bingxin/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [ INFO] [1580949011.984031932]: I0206 00:30:11.000000 30710 configuration_file_resolver.cc:41] Found '/home/bingxin/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [ INFO] [1580949011.985031161]: I0206 00:30:11.000000 30710 configuration_file_resolver.cc:41] Found '/home/bingxin/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [ INFO] [1580949011.987864916]: I0206 00:30:11.000000 30710 configuration_file_resolver.cc:41] Found '/home/bingxin/catkin_ws/install_isolated/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [ INFO] [1580949011.988713678]: I0206 00:30:11.000000 30710 configuration_file_resolver.cc:41] Found '/home/bingxin/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [ INFO] [1580949011.989251727]: I0206 00:30:11.000000 30710 configuration_file_resolver.cc:41] Found '/home/bingxin/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [ INFO] [1580949011.990035275]: I0206 00:30:11.000000 30710 configuration_file_resolver.cc:41] Found '/home/bingxin/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [ INFO] [1580949011.990485842]: I0206 00:30:11.000000 30710 configuration_file_resolver.cc:41] Found '/home/bingxin/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [ INFO] [1580949011.991215193]: I0206 00:30:11.000000 30710 configuration_file_resolver.cc:41] Found '/home/bingxin/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [ INFO] [1580949011.991636905]: I0206 00:30:11.000000 30710 configuration_file_resolver.cc:41] Found '/home/bingxin/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [ INFO] [1580949012.046640156]: I0206 00:30:12.000000 30710 submap_2d.cc:187] Added submap 1 [ INFO] [1580949012.047447874]: I0206 00:30:12.000000 30710 map_builder_bridge.cc:130] Added trajectory with ID '0'. F0206 00:30:12.316486 30710 sensor_bridge.cc:126] Check failed: sensor_to_tracking->translation().norm() < 1e-5 The IMU frame must be colocated with the tracking frame. Transforming linear acceleration into the tracking frame will otherwise be imprecise.

[FATAL] [1580949012.317711049, 21.874000000]: F0206 00:30:12.000000 30710 sensor_bridge.cc:126] Check failed: sensor_to_tracking->translation().norm() < 1e-5 The IMU frame must be colocated with the tracking frame. Transforming linear acceleration into the tracking frame will otherwise be imprecise.

Check failure stack trace: @ 0x7f62702135cd google::LogMessage::Fail() @ 0x7f6270215433 google::LogMessage::SendToLog() @ 0x7f627021315b google::LogMessage::Flush() @ 0x7f6270215e1e google::LogMessageFatal::~LogMessageFatal() @ 0x572142 cartographer_ros::SensorBridge::ToImuData() @ 0x54ad2e cartographer_ros::Node::HandleImuMessage() @ 0x55a74e boost::detail::function::void_function_obj_invoker1<>::invoke() @ 0x567e89 ros::SubscriptionCallbackHelperT<>::call() @ 0x7f626d6fed8d ros::SubscriptionQueue::call() @ 0x7f626d6a4838 ros::CallbackQueue::callOneCB() @ 0x7f626d6a623b ros::CallbackQueue::callAvailable() @ 0x7f626d702e39 ros::SingleThreadedSpinner::spin() @ 0x7f626d6e7e9b ros::spin() @ 0x543974 cartographer_ros::(anonymous namespace)::Run() @ 0x541234 main @ 0x7f626c0f4830 __libc_start_main @ 0x543499 _start @ (nil) (unknown)

**[cartographer_node-3] process has died [pid 30710, exit code -6, cmd /home/bingxin/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/bingxin/catkin_ws/install_isolated/share/turtlebot3_slam/config -configuration_basename turtlebot3_lds_2d.lua /imu:=/flat_imu __name:=cartographer_node __log:=/home/bingxin/.ros/log/bf654fbc-4877-11ea-ac1d-000c296a6d1a/cartographer_node-3.log].

log file: /home/bingxin/.ros/log/bf654fbc-4877-11ea-ac1d-000c296a6d1a/cartographer_node-3*.log**

[ WARN] [1580949024.360317350, 26.861000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.1 timeout was 0.1.

I am new to the cartographer so totally have no idea what does is means. Any ideas? Thanks

[dwindy]

solved there was a bug on turtlebot3_lds_2d.lua