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fazildgr8 / ros_autonomous_slam

ROS package which uses the Navigation Stack to autonomously explore an unknown environment with help of GMAPPING and constructs a map of the explored environment. Finally, a path planning algorithm from the Navigation stack is used in the newly generated map to reach the goal. The Gazebo simulator is used for the simulation of the Turtlebot3 Waffle Pi robot. Various algorithms have been integrated for Autonomously exploring the region and constructing the map with help of the 360-degree Lidar sensor. Different environments can be swapped within launch files to generate a map of the environment.
http://mohamedfazil.com
MIT License
218 stars 70 forks source link

some missing dependencies #3

Open elgarbe opened 3 years ago

elgarbe commented 3 years ago

I've started with a fresh ubuntu 18 - ros melodic and follow your steps. When I launch: roslaunch ros_autonomous_slam autonomous_explorer.launch I get:

NODES
  /
    assigner (ros_autonomous_slam/assigner.py)
    filter (ros_autonomous_slam/filter.py)
    global_detector (ros_autonomous_slam/global_rrt_detector)
    local_detector (ros_autonomous_slam/local_rrt_detector)
    move_base (move_base/move_base)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    turtlebot3_slam_gmapping (gmapping/slam_gmapping)

ROS_MASTER_URI=http://localhost:11311

process[robot_state_publisher-1]: started with pid [31219]
ERROR: cannot launch node of type [gmapping/slam_gmapping]: gmapping
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/elgarbe/workspace/catkin_ws/src
ROS path [2]=/opt/ros/melodic/share
process[rviz-3]: started with pid [31220]
process[move_base-4]: started with pid [31221]
process[global_detector-5]: started with pid [31227]
process[local_detector-6]: started with pid [31229]
process[filter-7]: started with pid [31239]
process[assigner-8]: started with pid [31241]
[ WARN] [1616723575.614585618, 597.417000000]: 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 597.417 timeout was 0.1.
Traceback (most recent call last):
  File "/home/elgarbe/workspace/catkin_ws/src/ros_autonomous_slam/scripts/filter.py", line 13, in <module>
    from sklearn.cluster import MeanShift
ImportError: No module named sklearn.cluster
[filter-7] process has died [pid 31239, exit code 1, cmd /home/elgarbe/workspace/catkin_ws/src/ros_autonomous_slam/scripts/filter.py __name:=filter __log:=/home/elgarbe/.ros/log/9fcbdc6e-8dd3-11eb-b7a4-7c67a237b388/filter-7.log].
log file: /home/elgarbe/.ros/log/9fcbdc6e-8dd3-11eb-b7a4-7c67a237b388/filter-7*.log
[ WARN] [1616723588.099024189, 602.422000000]: 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.

So I think I need gmapping and sklearn. What would it be the best way to install them?

Thank!

elgarbe commented 3 years ago

sudo apt-get install ros-melodic-gmapping and pip install scikit-learn works for me. I can confirm that it's working ok on my side.

siddharthumakarthikeyan commented 3 years ago

ERROR: cannot launch node of type [ros_autonomous_slam/global_rrt_detector]: Cannot locate node of type [global_rrt_detector] in package [ros_autonomous_slam]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [ros_autonomous_slam/local_rrt_detector]: Cannot locate node of type [local_rrt_detector] in package [ros_autonomous_slam]. Make sure file exists in package path and permission is set to executable (chmod +x)

How to solve this?

siddharthumakarthikeyan commented 3 years ago

[ WARN] [1620641497.891926424, 35.798000000]: 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 35.798 timeout was 0.1. [ INFO] [1620641497.938453916, 35.806000000]: Laser is mounted upwards. -maxUrange 3 -maxUrange 3.49 -sigma 0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05 -srr 0.1 -srt 0.2 -str 0.1 -stt 0.2 -linearUpdate 1 -angularUpdate 0.2 -resampleThreshold 0.5 -xmin -10 -xmax 10 -ymin -10 -ymax 10 -delta 0.05 -particles 100 [ INFO] [1620641497.940647469, 35.806000000]: Initialization complete update frame 0 update ld=0 ad=0 Laser Pose= -2.06358 0.500013 -3.14146 m_count 0 Registering First Scan [ WARN] [1620641498.210832068, 35.901000000]: global_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters [ INFO] [1620641498.255408556, 35.916000000]: global_costmap: Using plugin "static_layer" [ INFO] [1620641498.280432484, 35.923000000]: Requesting the map... [ INFO] [1620641498.575116678, 36.026000000]: Resizing costmap to 384 X 384 at 0.050000 m/pix [ INFO] [1620641498.864691587, 36.126000000]: Received a 384 X 384 map at 0.050000 m/pix [ INFO] [1620641498.868635113, 36.126000000]: global_costmap: Using plugin "obstacle_layer" [ INFO] [1620641498.871607827, 36.126000000]: Subscribed to Topics: scan [ INFO] [1620641498.924470050, 36.132000000]: global_costmap: Using plugin "inflation_layer" [ WARN] [1620641499.051403516, 36.164000000]: local_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters [ INFO] [1620641499.123692305, 36.176000000]: local_costmap: Using plugin "obstacle_layer"

Couple of Warn comments

onurcankaraca commented 3 years ago

ERROR: cannot launch node of type [ros_autonomous_slam/global_rrt_detector]: Cannot locate node of type [global_rrt_detector] in package [ros_autonomous_slam]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [ros_autonomous_slam/local_rrt_detector]: Cannot locate node of type [local_rrt_detector] in package [ros_autonomous_slam]. Make sure file exists in package path and permission is set to executable (chmod +x)

How to solve this?

Did you solve this problem?

Darksoulz15 commented 3 years ago

ERROR: cannot launch node of type [ros_autonomous_slam/global_rrt_detector]: Cannot locate node of type [global_rrt_detector] in package [ros_autonomous_slam]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [ros_autonomous_slam/local_rrt_detector]: Cannot locate node of type [local_rrt_detector] in package [ros_autonomous_slam]. Make sure file exists in package path and permission is set to executable (chmod +x) RLException: unable to launch [/home/osboxes/catkin_ws/src/ros_autonomous_slam/scripts/filter.py name:=filter log:=/home/osboxes/.ros/log/f3be0c86-e8cb-11eb-9bba-13c2280d4b10/filter-7.log]: Permission denied The traceback for the exception was written to the log file

facing the same issue, those two files "global_rrt_detector", "local_rrt_detector" are not found in the mentioned directory, furthermore the shebang for the scripts provided with the env probably I hope the developer used the virtual environment for building this i am not sure i may be wrong i just removed the shebang in the python scripts iam using ros neotic

automousSpace commented 2 years ago

Package 'ros_autonomous_slam' not found: "package 'ros_autonomous_slam' not found, searching: ['/opt/ros/foxy']"

KhaledMousaCpp commented 2 years ago

ERROR: cannot launch node of type [ros_autonomous_slam/global_rrt_detector]: Cannot locate node of type [global_rrt_detector] in package [ros_autonomous_slam]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [ros_autonomous_slam/local_rrt_detector]: Cannot locate node of type [local_rrt_detector] in package [ros_autonomous_slam]. Make sure file exists in package path and permission is set to executable (chmod +x)

Have you guys solve this problem ? as I am facing it on ROS Noetic

automousSpace commented 2 years ago

ERROR: cannot launch node of type [ros_autonomous_slam/global_rrt_detector]: Cannot locate node of type [global_rrt_detector] in package [ros_autonomous_slam]. Make sure file exists in package path and permission is set to executable (chmod +x) ERROR: cannot launch node of type [ros_autonomous_slam/local_rrt_detector]: Cannot locate node of type [local_rrt_detector] in package [ros_autonomous_slam]. Make sure file exists in package path and permission is set to executable (chmod +x)

Have you guys solve this problem ? as I am facing it on ROS Noetic

use ROS Melodic

KhaledMousaCpp commented 2 years ago

I have to use ROS Noetic in my FYP and I need this SLAM technique to be added, as I have seen some people using ROS Noetic and they have managed to make it work, if anyone has a solution please show us how to solve it

automousSpace commented 2 years ago

I have to use ROS Noetic in my FYP and I need this SLAM technique to be added, as I have seen some people using ROS Noetic and they have managed to make it work, if anyone has a solution please show us how to solve it

This is just a 5 min game in ROS Melodic, Why you are using it. For ROS Neotic Turtlebot3 is not as available as for ROS Neotic according to my research

KhaledMousaCpp commented 2 years ago

This is just a 5 min game in ROS Melodic, Why you are using it. For ROS Neotic Turtlebot3 is not as available as for ROS Neotic according to my research

I just want SLAM technique to generate a map of unknown environment, then I need to find a coverage path planning algorithm similar to vacuum robot in addition to octomap to absorb the reading of UVC light that goes out from the robot.

automousSpace commented 2 years ago

This is just a 5 min game in ROS Melodic, Why you are using it. For ROS Neotic Turtlebot3 is not as available as for ROS Neotic according to my research

I just want SLAM technique to generate a map of unknown environment, then I need to find a coverage path planning algorithm similar to vacuum robot in addition to octomap to absorb the reading of UVC light that goes out from the robot.

I personally did work on SLAM, map generation, and all that in ROS Melodic. There are some packages that are only available for ROS Melodic. You can achieve your goals in ROS Melodic without any error. One thinks Melodic has a more extensive community than Noetic. So I will recommend you to work in Melodic. I will help you In world creation, map-generating, SLAM and navigation my Whatsapp is +1 (218) 219-8763