Closed rafaelhuang-intel closed 5 years ago
rafaelhuang-intel
commented
5 years ago I also report this issue to TB3 (https://github.com/ROBOTIS-GIT/turtlebot3/issues/431), but it's seems this issue may cause by MicroXRCEAgent,.
I tested on ROS2 Crystal, and double checked on Dashing release, the test result are same.
rafaelhuang-intel
commented
5 years ago currently I used commit (TB3 version: 74ab7d5, MicroXRCEAgent: version: a495c65faa964ddc068ac6e1249f17f5c9f92787) in my environment for build and test, if not upgrade all ubuntu patch (no run above step3), this issue disappear, so I think this issue may cause by Ubuntu patch conflict with MicroXRCEAgent.
BorjaOuterelo
commented
5 years ago Hi, @rafaelhuang-intel is this still an open issue?
rafaelhuang-intel
commented
5 years ago Hi , @BorjaOuterelo after tested Dashing release (https://github.com/ROBOTIS-GIT/turtlebot3/issues/431), all workable, so I will close this issue.
ISSUE TEMPLATE ver. 0.2.0
Which TurtleBot3 you have?
Waffle & Waffle Pi Which SBC(Single Board Computer) is working on TurtleBot3?
Intel NUC (I7-6700) Which OS you installed in SBC?
Ubuntu 18.04 LTS (Bionic Beaver) Below is execution steps:
install Ubuntu 18.04.2 LTS (Bionic Beaver) (kernal 4.15.x or 4.18.x) sudo apt update sudo apt upgrade after all ubuntu patch updated, install all TB3 relate package, like TB3, Navigation2, Cartographer, etc. run TB3 and Cartographer SLAM (or navigation) All data show on terminal:
intel@intel-desktop:~/turtlebot3$ cd ~/turtlebot3 && MicroXRCEAgent serial /dev/ttyACM0 Serial agent initialization... OK Enter 'q' for exit
cd ~/turtlebot3 && MicroXRCEAgent udp 2018 UDP agent initialization... OK Enter 'q' for exit RTPS Participant matched 1.f.59.93.f4.43.0.0.1.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.fe.43.0.0.1.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.fd.43.0.0.1.0.0.0|0.0.1.c1 RTPS Subscriber matched 1.f.59.93.fe.43.0.0.1.0.0.0|0.0.22.4 RTPS Participant matched 1.f.59.93.b.44.0.0.1.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.15.44.0.0.1.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.14.44.0.0.1.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.14.44.0.0.2.0.0.0|0.0.1.c1 RTPS Participant matched 1.f.59.93.16.44.0.0.1.0.0.0|0.0.1.c1 RTPS Participant unmatched 1.f.59.93.15.44.0.0.1.0.0.0|0.0.1.c1 RTPS Participant unmatched 1.f.59.93.b.44.0.0.1.0.0.0|0.0.1.c1 RTPS Participant unmatched 1.f.59.93.14.44.0.0.2.0.0.0|0.0.1.c1 RTPS Participant unmatched 1.f.59.93.14.44.0.0.1.0.0.0|0.0.1.c1 RTPS Subscriber unmatched 1.f.59.93.fe.43.0.0.1.0.0.0|0.0.22.4 RTPS Participant unmatched 1.f.59.93.fd.43.0.0.1.0.0.0|0.0.1.c1 RTPS Participant unmatched 1.f.59.93.fe.43.0.0.1.0.0.0|0.0.1.c1 RTPS Participant unmatched 1.f.59.93.f4.43.0.0.1.0.0.0|0.0.1.c1
intel@intel-desktop:~$ ~/turtlebot3/turtlebot3_lidar turtlebot3 lidar client setup complete! 1 - Sent topic: 2.101000, range_max: 361 2 - Sent topic: 2.127000, range_max: 361 3 - Sent topic: 2.128000, range_max: 361 4 - Sent topic: 2.114000, range_max: 361 5 - Sent topic: 2.128000, range_max: 361 6 - Sent topic: 2.144000, range_max: 361 7 - Sent topic: 2.133000, range_max: 361 8 - Sent topic: 2.121000, range_max: 361 9 - Sent topic: 2.133000, range_max: 361 10 - Sent topic: 2.102000, range_max: 361 11 - Sent topic: 2.129000, range_max: 361 12 - Sent topic: 2.091000, range_max: 361 13 - Sent topic: 2.100000, range_max: 355 14 - Sent topic: 2.140000, range_max: 361 15 - Sent topic: 2.116000, range_max: 361 16 - Sent topic: 2.115000, range_max: 361 17 - Sent topic: 2.128000, range_max: 361 18 - Sent topic: 2.123000, range_max: 361 19 - Sent topic: 2.134000, range_max: 361 20 - Sent topic: 2.125000, range_max: 361 21 - Sent topic: 2.123000, range_max: 361 22 - Sent topic: 2.128000, range_max: 361 23 - Sent topic: 2.108000, range_max: 361 24 - Sent topic: 2.122000, range_max: 361 25 - Sent topic: 2.131000, range_max: 361 26 - Sent topic: 2.113000, range_max: 361 27 - Sent topic: 2.123000, range_max: 361 28 - Sent topic: 2.121000, range_max: 361 29 - Sent topic: 2.135000, range_max: 361 30 - Sent topic: 2.114000, range_max: 361 31 - Sent topic: 2.115000, range_max: 361 32 - Sent topic: 2.143000, range_max: 361 33 - Sent topic: 2.115000, range_max: 361 34 - Sent topic: 2.117000, range_max: 361 35 - Sent topic: 2.149000, range_max: 361 36 - Sent topic: 2.114000, range_max: 361 37 - Sent topic: 2.131000, range_max: 361 38 - Sent topic: 2.131000, range_max: 361 39 - Sent topic: 2.133000, range_max: 361 40 - Sent topic: 2.122000, range_max: 361
intel@intel-desktop:~$ ros2 launch turtlebot3_bringup robot.launch.py [INFO] [launch]: All log files can be found below /home/intel/.ros/log/2019-05-27-01-26-36-848251-intel-desktop-17396 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_waffle.urdf [INFO] [robot_state_publisher-1]: process started with pid [17405] [INFO] [turtlebot3_ros-2]: process started with pid [17406] [robot_state_publisher-1] Initialize urdf model from file: /opt/robot_sdk/device/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_waffle.urdf [robot_state_publisher-1] Parsing robot urdf xml string. [robot_state_publisher-1] Link base_link had 7 children [robot_state_publisher-1] Link camera_link had 2 children [robot_state_publisher-1] Link camera_depth_frame had 1 children [robot_state_publisher-1] Link camera_depth_optical_frame had 0 children [robot_state_publisher-1] Link camera_rgb_frame had 1 children [robot_state_publisher-1] Link camera_rgb_optical_frame had 0 children [robot_state_publisher-1] Link caster_back_left_link had 0 children [robot_state_publisher-1] Link caster_back_right_link had 0 children [robot_state_publisher-1] Link imu_link had 0 children [robot_state_publisher-1] Link base_scan had 0 children [robot_state_publisher-1] Link wheel_left_link had 0 children [robot_state_publisher-1] Link wheel_right_link had 0 children [robot_state_publisher-1] got segment base_footprint [robot_state_publisher-1] got segment base_link [robot_state_publisher-1] got segment base_scan [robot_state_publisher-1] got segment camera_depth_frame [robot_state_publisher-1] got segment camera_depth_optical_frame [robot_state_publisher-1] got segment camera_link [robot_state_publisher-1] got segment camera_rgb_frame [robot_state_publisher-1] got segment camera_rgb_optical_frame [robot_state_publisher-1] got segment caster_back_left_link [robot_state_publisher-1] got segment caster_back_right_link [robot_state_publisher-1] got segment imu_link [robot_state_publisher-1] got segment wheel_left_link [robot_state_publisher-1] got segment wheel_right_link [turtlebot3_ros-2] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main [robot_state_publisher-1] Adding fixed segment from base_footprint to base_link [robot_state_publisher-1] Adding fixed segment from base_link to camera_link [robot_state_publisher-1] Adding fixed segment from camera_link to camera_depth_frame [robot_state_publisher-1] Adding fixed segment from camera_depth_frame to camera_depth_optical_frame [robot_state_publisher-1] Adding fixed segment from camera_link to camera_rgb_frame [robot_state_publisher-1] Adding fixed segment from camera_rgb_frame to camera_rgb_optical_frame [robot_state_publisher-1] Adding fixed segment from base_link to caster_back_left_link [robot_state_publisher-1] Adding fixed segment from base_link to caster_back_right_link [robot_state_publisher-1] Adding fixed segment from base_link to imu_link [robot_state_publisher-1] Adding fixed segment from base_link to base_scan [robot_state_publisher-1] Adding moving segment from base_link to wheel_left_link [robot_state_publisher-1] Adding moving segment from base_link to wheel_right_link
intel@intel-desktop:~$ ros2 launch turtlebot3_cartographer cartographer.launch.py [INFO] [launch]: All log files can be found below /home/intel/.ros/log/2019-05-27-01-26-39-625237-intel-desktop-17419 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [cartographer_node-1]: process started with pid [17428] [INFO] [occupancy_grid_node-2]: process started with pid [17429] [INFO] [rviz2-3]: process started with pid [17430] [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/opt/robot_sdk/device/turtlebot3_cartographer/share/turtlebot3_cartographer/config/turtlebot3_lds_2d.lua' for 'turtlebot3_lds_2d.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-1] I0527 01:26:40.000000 17428 configuration_file_resolver.cc:41] Found '/home/intel/robot_sdk/sdk_ws/device_ws/install/cartographer/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-1] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [cartographer_node-1] I0527 01:26:40.000000 17428 submap_2d.cc:187] Added submap 1 [cartographer_node-1] I0527 01:26:40.000000 17428 map_builder_bridge.cc:132] Added trajectory with ID '0'. [rviz2-3] [INFO] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] [INFO] [rviz2]: OpenGl version: 3 (GLSL 1.3) [rviz2-3] [WARN] [rviz2]: Could not find folder /opt/robot_sdk/core/rviz_rendering_tests/share/rviz_rendering_tests/ogre_media_resources/scripts [rviz2-3] [WARN] [rviz2]: Could not find folder /opt/robot_sdk/core/rviz_rendering_tests/share/rviz_rendering_tests/ogre_media_resources/meshes [rviz2-3] [INFO] [rviz2]: Stereo is NOT SUPPORTED [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty [occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
BTW, if not upgrade all ubuntu patch (no run step3), this issue disappear. Does anyone met the same issue before, would you please share some experience about how to fix or debug?