search

cartographer-project / cartographer_turtlebot

Provides TurtleBot integration for Cartographer.
Apache License 2.0
151 stars 96 forks source link

File 'trajectory_builder.lua' was not found. #80

Closed FelicxFoster closed 6 years ago

FelicxFoster commented 6 years ago

why i have this error

i run the "roslaunch cartographer_ros turtlebot_lidar_2d.launch" the terminal place that "[FATAL] [1512705370.945497189]: F1208 11:56:10.000000 22035 configuration_file_resolver.cc:44] File 'trajectory_builder.lua' was not found." How could i solve it, please help me!

felicx@felicx-Lenovo-XiaoXin-310-14ISK:~/carto_ws$ roslaunch cartographer_ros turtlebot_lidar_2d.launch ... logging to /home/felicx/.ros/log/5327b740-dbcd-11e7-b5a9-ac2b6e7a2f6f/roslaunch-felicx-Lenovo-XiaoXin-310-14ISK-23951.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://felicx-Lenovo-XiaoXin-310-14ISK:41487/

SUMMARY

PARAMETERS

NODES /zeroconf/ zeroconf (zeroconf_avahi/zeroconf) / app_manager (rocon_app_manager/rapp_manager.py) bumper2pointcloud (nodelet/nodelet) capability_server (capabilities/capability_server) cartographer_node (cartographer_ros/cartographer_node) cmd_vel_mux (nodelet/nodelet) diagnostic_aggregator (diagnostic_aggregator/aggregator_node) flat_world_imu_node (cartographer_ros/cartographer_flat_world_imu_node) interactions (rocon_interactions/interactions_manager.py) master (rocon_master_info/master.py) mobile_base (nodelet/nodelet) mobile_base_nodelet_manager (nodelet/nodelet) robot_state_publisher (robot_state_publisher/robot_state_publisher) rviz (rviz/rviz) turtlebot_laptop_battery (laptop_battery_monitor/laptop_battery.py)

auto-starting new master process[master]: started with pid [23966] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5327b740-dbcd-11e7-b5a9-ac2b6e7a2f6f process[rosout-1]: started with pid [23979] started core service [/rosout] process[robot_state_publisher-2]: started with pid [23997] process[diagnostic_aggregator-3]: started with pid [23998] process[mobile_base_nodelet_manager-4]: started with pid [23999] process[mobile_base-5]: started with pid [24008] process[bumper2pointcloud-6]: started with pid [24011] process[cmd_vel_mux-7]: started with pid [24022] process[turtlebot_laptop_battery-8]: started with pid [24040] process[capability_server-9]: started with pid [24043] process[app_manager-10]: started with pid [24056] process[master-11]: started with pid [24068] process[interactions-12]: started with pid [24083] [ERROR] [1512706058.092966655]: Skipping XML Document "/opt/ros/indigo/share/gmapping/nodelet_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing. process[zeroconf/zeroconf-13]: started with pid [24086] process[cartographer_node-14]: started with pid [24112] ERROR: cannot launch node of type [cartographer_ros/cartographer_flat_world_imu_node]: can't locate node [cartographer_flat_world_imu_node] in package [cartographer_ros] process[rviz-16]: started with pid [24130] [ INFO] [1512706058.204131618]: I1208 12:07:38.000000 24112 configuration_file_resolver.cc:40] Found '/home/felicx/carto_ws/install_isolated/share/cartographer_ros/configuration_files/turtlebot_urg_lidar_2d.lua' for 'turtlebot_urg_lidar_2d.lua'. [ INFO] [1512706058.204530682]: I1208 12:07:38.000000 24112 configuration_file_resolver.cc:40] Found '/usr/local/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [ INFO] [1512706058.204585851]: I1208 12:07:38.000000 24112 configuration_file_resolver.cc:40] Found '/usr/local/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [ INFO] [1512706058.204676360]: I1208 12:07:38.000000 24112 configuration_file_resolver.cc:40] Found '/usr/local/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [ INFO] [1512706058.204722193]: I1208 12:07:38.000000 24112 configuration_file_resolver.cc:40] Found '/usr/local/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [ INFO] [1512706058.204899873]: I1208 12:07:38.000000 24112 configuration_file_resolver.cc:40] Found '/usr/local/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [ INFO] [1512706058.204950355]: I1208 12:07:38.000000 24112 configuration_file_resolver.cc:40] Found '/usr/local/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [ INFO] [1512706058.205124230]: I1208 12:07:38.000000 24112 configuration_file_resolver.cc:40] Found '/usr/local/share/cartographer/configuration_files/sparse_pose_graph.lua' for 'sparse_pose_graph.lua'. [ INFO] [1512706058.205168677]: I1208 12:07:38.000000 24112 configuration_file_resolver.cc:40] Found '/usr/local/share/cartographer/configuration_files/sparse_pose_graph.lua' for 'sparse_pose_graph.lua'. F1208 12:07:38.205330 24112 configuration_file_resolver.cc:44] File 'trajectory_builder.lua' was not found. [FATAL] [1512706058.205608069]: F1208 12:07:38.000000 24112 configuration_file_resolver.cc:44] File 'trajectory_builder.lua' was not found. [ INFO] [1512706059.057698944]: Zeroconf: service successfully established [turtlebot][_ros-master._tcp][11311] Check failure stack trace: @ 0x7fb23990fdaa (unknown) @ 0x7fb23990fce4 (unknown) @ 0x7fb23990f6e6 (unknown) @ 0x7fb239912687 (unknown) @ 0x549616 cartographer::common::ConfigurationFileResolver::GetFullPathOrDie() @ 0x5441e6 cartographer::common::LuaParameterDictionary::LuaInclude() @ 0x7fb23bbab61d (unknown) @ 0x7fb23bbb69b4 (unknown) @ 0x7fb23bbab989 (unknown) @ 0x7fb23bbaafac (unknown) @ 0x7fb23bbabbc1 (unknown) @ 0x7fb23bba7c9d (unknown) @ 0x54333c cartographer::common::LuaParameterDictionary::LuaParameterDictionary() @ 0x54358a cartographer::common::LuaParameterDictionary::LuaParameterDictionary() @ 0x4e81bd cartographer_ros::(anonymous namespace)::Run() @ 0x4e278d main @ 0x7fb237f74f45 (unknown) @ 0x4e38a7 (unknown) @ (nil) (unknown) [cartographer_node-14] process has died [pid 24112, exit code -6, cmd /home/felicx/carto_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/felicx/carto_ws/install_isolated/share/cartographer_ros/configuration_files -configuration_basename turtlebot_urg_lidar_2d.lua scan:=/scan __name:=cartographer_node __log:=/home/felicx/.ros/log/5327b740-dbcd-11e7-b5a9-ac2b6e7a2f6f/cartographer_node-14.log]. log file: /home/felicx/.ros/log/5327b740-dbcd-11e7-b5a9-ac2b6e7a2f6f/cartographer_node-14.log [ERROR] [1512706060.200407906]: Skipping XML Document "/opt/ros/indigo/share/gmapping/nodelet_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing. ================================================================================REQUIRED process [rviz-16] has died! process has finished cleanly log file: /home/felicx/.ros/log/5327b740-dbcd-11e7-b5a9-ac2b6e7a2f6f/rviz-16.log Initiating shutdown!

[app_manager-10] killing on exit [rviz-16] killing on exit [zeroconf/zeroconf-13] killing on exit [interactions-12] killing on exit [master-11] killing on exit [turtlebot_laptop_battery-8] killing on exit [cmd_vel_mux-7] killing on exit [bumper2pointcloud-6] killing on exit [mobile_base-5] killing on exit [capability_server-9] killing on exit [mobile_base_nodelet_manager-4] killing on exit [diagnostic_aggregator-3] killing on exit [robot_state_publisher-2] killing on exit Exception in thread Thread-25 (most likely raised during interpreter shutdown): Traceback (most recent call last): File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner File "/usr/lib/python2.7/threading.py", line 763, in run File "/opt/ros/indigo/lib/python2.7/dist-packages/bondpy/bondpy.py", line 247, in _publishing_thread File "/usr/lib/python2.7/threading.py", line 215, in exit File "/usr/lib/python2.7/threading.py", line 202, in release <type 'exceptions.TypeError'>: 'NoneType' object is not callable [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

gaschler commented 6 years ago

First, turtlebot is part of the cartographer_turtlebot project, so roslaunch cartographer_turtlebot turtlebot.launch (not _ros).

trajectory_builder.lua is a configuration file provided by cartographer. Also make sure you follow the catkin install instructions, and do not forget source install_isolated/setup.bash.

I'm believe this is resolved, feel free to re-open if necessary.

araster1010 commented 6 years ago

I have a same problem.

And if I run roslaunch cartographer_turtlebot turtlebot.launch first, the console says below.

[/home/(user name)/catkin_ws/install_isolated/share/cartographer_turtlebot/launch/turtlebot.launch] requires the 'configuration_basename' arg to be set The traceback for the exception was written to the log file

I'm a beginner at ROS. Could you tell me the meaning of 'configuration_basename' arg and what shall I do?

Thanks.

gaschler commented 6 years ago

configuration_basename is "Basename, i.e. not containing any directory prefix, of the configuration file." For example, backpack_2d.lua. Follow https://google-cartographer.readthedocs.io/en/latest/index.html, start with the launch files included and go from there.