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iRobotEducation / create3_examples

Example nodes to drive the iRobot® Create® 3 Educational Robot
BSD 3-Clause "New" or "Revised" License
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Issue Getting setup #40

Closed scottcandy34 closed 1 year ago

scottcandy34 commented 1 year ago

I have create3 with G.3.1 firmware. I'm using lidar slamtec A1M8 R5 and a raspberry pi 4 (8GB SD) with ubuntu server 20.04 installed with galactic ros2 from your documentation. I have followed this repository example and steps to setup the lidar for SLAM but to no success.

I'm getting this error each time. It will power down the lidar then will get the error below. The lidar will power back on after error report.

ubuntu@ubuntu:~$ ros2 launch create3_lidar sensors_launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-01-27-17-57-43-941734-ubuntu-15417
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_transform_publisher-1]: process started with pid [15420]
[INFO] [rplidar_composition-2]: process started with pid [15422]
[rplidar_composition-2] [INFO] [1674842264.723120232] [rplidar_node]: RPLIDAR running on ROS 2 package rplidar_ros. SDK Version: '1.12.0'
[static_transform_publisher-1] [INFO] [1674842264.729258423] [static_transform_publisher_E5pqCdgCs5kKrqBf]: Spinning until killed publishing transform from 'base_footprint' to 'laser_frame'
[rplidar_composition-2] [ERROR] [1674842269.234857068] [rplidar_node]: Error, operation time out. RESULT_OPERATION_TIMEOUT!

And as expected the next code does not print out [async_slam_toolbox_node-1] Registering sensor: [Custom Described Lidar] as in the instructions.

ubuntu@ubuntu:~$ ros2 launch create3_lidar slam_toolbox_launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-01-27-18-07-05-127098-ubuntu-15585
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [async_slam_toolbox_node-1]: process started with pid [15587]
[async_slam_toolbox_node-1] [INFO] [1674842825.895216161] [slam_toolbox]: Node using stack size 40000000
[async_slam_toolbox_node-1] [INFO] [1674842826.380679134] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[async_slam_toolbox_node-1] [INFO] [1674842826.383553374] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.

I have tried a number of different things from changing the USB cable to the baudrate. I cannot understand what is going wrong when I have followed your documentation. I plan to try this with a fresh install on ubuntu 22.04 desktop and humble with firmware H.0.0 to see if that makes a difference. But am waiting for bigger micro SD card (32GB) to come in.

scottcandy34 commented 1 year ago

Ok I had another board and tried that. its working now so ill close this.