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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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warn when run rtabmap.launch and problems of continuing to build drawings #754

Closed ysys98 closed 2 years ago

ysys98 commented 2 years ago

Hi， The operating system of my computer is Ubuntu 16.04 ，ROS kinetic (I used Kinect + Odometry + Fake 2D laser from Kinect ) I did publish the tf from odom to map, and base link to camera link， I can build 3D map correctly and make rtabmap.db export 3D map problem I have is that when I run rtabmap again, I removed --delete_db_on_start. I want to improve the map on the basis of the map I have built I put the robot in another position, which is far away from the position of the robot at the end of the last drawing map About one meter. I still open rviz and rtabmapviz however，At the end of the last time, the robot continued to build the map according to its position, instead of the new position I put robot in now I ran openni2 lanunch How can I make the robot continue to build maps in robot's new location? Do I need to add an amcl.launch? Sorry, this launch file is not fully displayed. I don't know why, but I follow launch file written by rtabmap_ros wiki

matlabbe commented 2 years ago

For the Received odom topic with child_Frame_id not set warning, it is what it said, you are feeding an odometry topic without child_frame_id set.

ysys98 commented 2 years ago

For the Received odom topic with child_Frame_id not set warning, it is what it said, you are feeding an odometry topic without child_frame_id set.

@matlabbe How can I solve this problem? I'm sure that published odom to base_ link transformation, this is my TF tree frames.pdf

matlabbe commented 2 years ago

this warning is not about TF, it is about the odometry topic. Do rostopic echo /odometry_topic_used

ysys98 commented 2 years ago

this warning is not about TF, it is about the odometry topic. Do rostopic echo /odometry_topic_used

@matlabbe Dear matlabbe ， OK, thank you. I'll do as you say. I have some other questions I am a beginner I built the map through rtabmap_ros slam,

and I switch to Localization mode and restart rtabmap_ ros roslaunch rtabmap_ros rtabmap.launch localization:=true rtabmap.launch is my launch file

I can't let the robot determine his own position After a long enough time, the robot still didn't determine its position And the robot has been bouncing left and right on the rviz I did click the "2D Pose Estimate" button The position of the robot produces elegance How can I solve this problem

ysys98 commented 2 years ago

this warning is not about TF, it is about the odometry topic. Do rostopic echo /odometry_topic_used

@matlabbe thanks for your help when I run rostopic echo /odometry_topic_used it said WARNING: topic [/odometry_topic_used] does not appear to be published yet It should I rostopic echo /odom？ here is odom echo： header: seq: 1441 stamp: secs: 1652275565 nsecs: 464076042 frame_id: "/odom" child_frame_id: '' pose: pose: position: x: -0.0224873460829 y: -0.0390730723739 z: 0.33134663105 orientation: x: 0.00039334863923 y: -0.00195861964252 z: 0.00932671320526 w: 0.999954509719 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] twist: twist: linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

ysys98 commented 2 years ago

this warning is not about TF, it is about the odometry topic. Do rostopic echo /odometry_topic_used

@matlabbe I understand what you mean. In rostopic echo /odom ，It doesn't exist child_frameid here，there is no odom to base link coordinate transformation, but when I rosrun nao_bringup nao_fullpy.launch,it does release odom to base link coordinate transformation did I need rosrun tf static_transrm_publisher 0 0 0 0 0 0 /odom /base_link 100？

matlabbe commented 2 years ago

Well, if you cannot modify the code publishing your /odom topic to fix the child_frame_id not set, you may ignore the warning about that. I see also that your odom topic doesn't have covariance set. You can use odom_frame_id parameter instead of using the topic:

<param name="odom_frame_id" value="odom"/>

This will remove the warning and odometry will be taken directly from TF.

In localization mode, when you see that an hypothesis has been rejected, look at the terminal for the reason. Also when relaunching in localization mode, do Edit->Download all clouds in rtabmapviz so that you can see the actual loop closure hypothesis where it is red (to know if it is he same place).

ysys98 commented 2 years ago

Well, if you cannot modify the code publishing your /odom topic to fix the child_frame_id not set, you may ignore the warning about that. I see also that your odom topic doesn't have covariance set. You can use odom_frame_id parameter instead of using the topic:

<param name="odom_frame_id" value="odom"/>

This will remove the warning and odometry will be taken directly from TF.

In localization mode, when you see that an hypothesis has been rejected, look at the terminal for the reason. Also when relaunching in localization mode, do Edit->Download all clouds in rtabmapviz so that you can see the actual loop closure hypothesis where it is red (to know if it is he same place).

Hi, @matlabbe Thanks for your help, When I do Edit->Download all clouds in rtabmapviz, it worked, but, I also have some trouble, By the way, I use Ubuntu 16 04 and ROS kinetic I install rtabmap by sudo apt-get install ros-kinetic-rtabmap-ros I am a novice. The following questions may be stupid. Thank you very much for your patience I have so many parameters not found and so many Unknown parameters and when I do Edit->Download all clouds robot might find itself postion but the warn log says：

[ INFO] [1652546688.387719353]: Odom: quality=329, std dev=0.004898m|0.059190rad, update time=0.169109s [ INFO] [1652546688.576276847]: Odom: quality=332, std dev=0.005312m|0.053014rad, update time=0.172483s [ INFO] [1652546688.767422950]: Odom: quality=309, std dev=0.007252m|0.067783rad, update time=0.171086s [ INFO] [1652546688.970389007]: Odom: quality=273, std dev=0.024636m|0.077719rad, update time=0.180912s [ INFO] [1652546689.157523252]: Odom: quality=177, std dev=0.006254m|0.051393rad, update time=0.164852s [ INFO] [1652546689.357883188]: Odom: quality=40, std dev=0.005050m|0.043851rad, update time=0.193654s

[ INFO] [1652546689.594488469]: Odom: quality=344, std dev=0.003464m|0.041757rad, update time=0.215921s [ WARN] [1652546689.686601255]: The origin for the sensor at (0.41, 0.39, 0.47) is out of map bounds. So, the costmap cannot raytrace for it. [ INFO] [1652546689.813859097]: Odom: quality=330, std dev=0.006633m|0.048014rad, update time=0.205766s [ WARN] (2022-05-15 00:44:49.989) OdometryF2M.cpp:561::computeTransform() Registration failed: "Too low inliers after bundle adjustment: 11<20" (guess=xyz=0.000076,-0.000220,0.000000 rpy=0.000000,0.000000,0.000007) [ WARN] (2022-05-15 00:44:49.990) OdometryF2M.cpp:323::computeTransform() Failed to find a transformation with the provided guess (xyz=0.000076,-0.000220,0.000000 rpy=0.000000,0.000000,0.000007), trying again without a guess. [ WARN] (2022-05-15 00:44:50.328) OdometryF2M.cpp:551::computeTransform() Trial with no guess still fail. [ WARN] (2022-05-15 00:44:50.328) OdometryF2M.cpp:561::computeTransform() Registration failed: "Too low inliers after bundle adjustment: 17<20" (guess=xyz=0.000076,-0.000220,0.000000 rpy=0.000000,0.000000,0.000007) [ INFO] [1652546690.329437489]: Odom: quality=17, std dev=0.000000m|0.000000rad, update time=0.509494s [ WARN] (2022-05-15 00:44:50.679) OdometryF2M.cpp:557::computeTransform() Registration failed: "Too low inliers after bundle adjustment: 16<20" [ INFO] [1652546690.680880787]: Odom: quality=16, std dev=0.000000m|0.000000rad, update time=0.331924s [ WARN] [1652546690.687054211]: The origin for the sensor at (0.41, 0.39, 0.47) is out of map bounds. So, the costmap cannot raytrace for it. [ WARN] (2022-05-15 00:44:51.079) OdometryF2M.cpp:557::computeTransform() Registration failed: "Too low inliers after bundle adjustment: 15<20" [ INFO] [1652546691.084406344]: Odom: quality=15, std dev=0.000000m|0.000000rad, update time=0.396592s [ INFO] [1652546691.527777334]: Odom: quality=24, std dev=0.007517m|0.066416rad, update time=0.429245s [ WARN] [1652546691.687182729]: The origin for the sensor at (0.41, 0.39, 0.47) is out of map bounds. So, the costmap cannot raytrace for it. what should I do？

matlabbe commented 2 years ago

Did you build also rtabmap from source? The version shown is 0.20.19, while the kinetic binaries are stuck at 0.20.7. The map seems to have been created with 0.20.7, then you try to localize with 0.20.19. It is why a lot of warnings about parameters not existing in the database.

Then for those warnings: Registration failed: "Too low inliers after bundle adjustment: 15<20", you could decrease Vis/MinInliers parameter to 10 to accept more localizations.

ysys98 commented 2 years ago

Well, if you cannot modify the code publishing your /odom topic to fix the child_frame_id not set, you may ignore the warning about that. I see also that your odom topic doesn't have covariance set. You can use odom_frame_id parameter instead of using the topic:

<param name="odom_frame_id" value="odom"/>

This will remove the warning and odometry will be taken directly from TF.

In localization mode, when you see that an hypothesis has been rejected, look at the terminal for the reason. Also when relaunching in localization mode, do Edit->Download all clouds in rtabmapviz so that you can see the actual loop closure hypothesis where it is red (to know if it is he same place).

@matlabbe Hi, follow this question, I follow http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot to build I changed arg name="rgbd_odometry" default="false" back and then param unless="$(arg rgbd_odometry)" name="odom_frame_id" value="odom" worked when I rosrun naoqi_driver to stack NAO robot at ros, It has some error log： [ERROR] [1653536036.599252282]: Do not calculate NAO Footprint, no transform possible 1653536036.398613193 and my move_base.launch params used by turtlebot_apps/turtlebot_navigation/param/ when I set 2D nav goal at rviz ，robot can not move and have warn log： [ WARN] [1652785301.688729770]: Clearing costmap to unstuck robot (3.000000m). [ WARN] [1652785312.288919824]: Rotate recovery behavior started. and display in terminal of naoqi_driver : cannot transform from map to base_footprint

then I think I should publish transform from base_link to base_footprint and map to odom and I did that but NAO also can not move towards to the target and also apper warn log： [ WARN] [1652785301.688729770]: Clearing costmap to unstuck robot (3.000000m). [ WARN] [1652785312.288919824]: Rotate recovery behavior started. and aslo display in terminal of naoqi_driver : cannot transform from map to base_footprint And robot still will not move towards the target 517

but when I roslaunch nao_bringup nao_full_py.launch

and set a 2D nav goal at rviz ,robot will move towards the target but it has a strange phenomenon ： If the target point I set is approximately a straight line, the robot will walk towards the target point, but if the target point is in the oblique front of the robot, the robot will also walk but will not turn，the robot will not follow the globally planned path,robot just would walk sideways like a crab and will not avoid obstacles

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What should I do？

this is my TF tree frames.pdf

here it is my log info： ros-kinetic@roskinetic-HP-Pavilion-Laptop-15-cw0xxx:~/rtabmap_ws $ roslaunch nao_bringup demo_nao_mapping.launch ... logging to /home/ros-kinetic/.ros/log/f7aeee74-d5b4-11ec-a0de-802bf9bda405/roslaunch-roskinetic-HP-Pavilion-Laptop-15-cw0xxx-24261.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://roskinetic-HP-Pavilion-Laptop-15-cw0xxx:34211/

SUMMARY

PARAMETERS

NODES /camera/ camera_nodelet_manager (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_hw_metric_rect (nodelet/nodelet) depth_registered_metric (nodelet/nodelet) depth_registered_rectify_depth (nodelet/nodelet) disparity_depth (nodelet/nodelet) disparity_registered_hw (nodelet/nodelet) driver (nodelet/nodelet) ir_rectify_ir (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) rgb_rectify_color (nodelet/nodelet) /rtabmap/ rtabmap (rtabmap_ros/rtabmap) / camera_base_link (tf2_ros/static_transform_publisher) camera_base_link1 (tf2_ros/static_transform_publisher) camera_base_link2 (tf2_ros/static_transform_publisher) camera_base_link3 (tf2_ros/static_transform_publisher) depthimage_to_laserscan (nodelet/nodelet) kobuki_safety_controller (nodelet/nodelet) move_base (move_base/move_base) navigation_velocity_smoother (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[camera/camera_nodelet_manager-1]: started with pid [24294] [ INFO] [1652785190.681851118]: Initializing nodelet with 4 worker threads. process[camera/driver-2]: started with pid [24296] [ INFO] [1652785190.827289982]: Device "1d27/0601@1/4" found. Warning: USB events thread - failed to set priority. This might cause loss of data... process[camera/rgb_rectify_color-3]: started with pid [24317] process[camera/ir_rectify_ir-4]: started with pid [24351] process[camera/depth_rectify_depth-5]: started with pid [24366] process[camera/depth_metric_rect-6]: started with pid [24420] process[camera/depth_metric-7]: started with pid [24500] [ WARN] [1652785191.529967370]: Reconnect has been enabled, only one camera should be plugged into each bus process[camera/depth_points-8]: started with pid [24643] process[camera/depth_registered_rectify_depth-9]: started with pid [24778] process[camera/points_xyzrgb_hw_registered-10]: started with pid [24903] process[camera/depth_registered_hw_metric_rect-11]: started with pid [25004] process[camera/depth_registered_metric-12]: started with pid [25022] process[camera/disparity_depth-13]: started with pid [25083] process[camera/disparity_registered_hw-14]: started with pid [25141] process[camera_base_link-15]: started with pid [25165] process[camera_base_link1-16]: started with pid [25188] process[camera_base_link2-17]: started with pid [25199] process[camera_base_link3-18]: started with pid [25211] process[depthimage_to_laserscan-19]: started with pid [25223] process[navigation_velocity_smoother-20]: started with pid [25235] process[kobuki_safety_controller-21]: started with pid [25287] process[move_base-22]: started with pid [25305] process[rtabmap/rtabmap-23]: started with pid [25330] [ INFO] [1652785194.050721096]: Starting node... [ INFO] [1652785194.108183435]: Initializing nodelet with 8 worker threads. [ WARN] [1652785194.216538570]: Parameter "map_negative_poses_ignored" has been removed. Use "map_always_update" instead. [ INFO] [1652785194.231655347]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1652785194.231722173]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1652785194.231749826]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1652785194.231773811]: /rtabmap/rtabmap(maps): map_always_update = false [ INFO] [1652785194.231797586]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1652785194.231821351]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1652785194.231850316]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1652785194.231873820]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1652785194.235664724]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1652785194.299686890]: rtabmap: frame_id = base_link [ INFO] [1652785194.299771499]: rtabmap: odom_frame_id = odom [ INFO] [1652785194.299800775]: rtabmap: map_frame_id = map [ INFO] [1652785194.299837504]: rtabmap: use_action_for_goal = true [ INFO] [1652785194.299880105]: rtabmap: tf_delay = 0.050000 [ INFO] [1652785194.299911935]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1652785194.299941571]: rtabmap: odom_sensor_sync = false [ INFO] [1652785194.544391131]: Setting RTAB-Map parameter "GridGlobal/MinSize"="20" [ INFO] [1652785194.572156289]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.3" [ INFO] [1652785194.710233020]: Setting RTAB-Map parameter "Kp/MaxDepth"="4.0" [ INFO] [1652785194.805600401]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true" [ INFO] [1652785194.806915516]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false" [ INFO] [1652785194.858672585]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.30" [ INFO] [1652785194.955272795]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.1" [ INFO] [1652785194.978953075]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.1" [ INFO] [1652785195.023017105]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false" [ INFO] [1652785195.051550897]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true" [ INFO] [1652785195.077854614]: Setting RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="0" [ INFO] [1652785195.091780281]: Setting RTAB-Map parameter "Reg/Force3DoF"="true" [ INFO] [1652785195.100743789]: Setting RTAB-Map parameter "Reg/Strategy"="0" [ INFO] [1652785195.185625975]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="0" [ INFO] [1652785195.405497318]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.1" [ INFO] [1652785195.438611235]: Setting RTAB-Map parameter "Vis/MinInliers"="15" [ WARN] [1652785195.923405446]: Setting "Grid/FromDepth" parameter to false (default true) as "subscribe_scan" or "subscribe_scan_cloud" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/FromDepth" to true. To suppress this warning, add [ INFO] [1652785195.923673763]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan" or "subscribe_scan_cloud" is true and Grid/FromDepth is false. [ INFO] [1652785195.927423770]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1652785195.927771757]: rtabmap: Deleted database "/home/ros-kinetic/.ros/rtabmap.db" (--delete_db_on_start or -d are set). [ INFO] [1652785195.927891263]: rtabmap: Using database from "/home/ros-kinetic/.ros/rtabmap.db" (0 MB). [ INFO] [1652785196.232228134]: rtabmap: Database version = "0.20.7". [ INFO] [1652785196.297117649]: /rtabmap/rtabmap: subscribe_depth = true [ INFO] [1652785196.297194083]: /rtabmap/rtabmap: subscribe_rgb = true [ INFO] [1652785196.297228348]: /rtabmap/rtabmap: subscribe_stereo = false [ INFO] [1652785196.297268083]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1652785196.297307728]: /rtabmap/rtabmap: subscribe_odom_info = false [ INFO] [1652785196.297344177]: /rtabmap/rtabmap: subscribe_user_data = false [ INFO] [1652785196.297383762]: /rtabmap/rtabmap: subscribe_scan = true [ INFO] [1652785196.297421673]: /rtabmap/rtabmap: subscribe_scan_cloud = false [ INFO] [1652785196.297457060]: /rtabmap/rtabmap: subscribe_scan_descriptor = false [ INFO] [1652785196.297495563]: /rtabmap/rtabmap: queue_size = 10 [ INFO] [1652785196.297535589]: /rtabmap/rtabmap: approx_sync = true [ INFO] [1652785196.297670303]: Setup depth callback [ INFO] [1652785196.339818513]: /rtabmap/rtabmap subscribed to (approx sync): /camera/rgb/image_rect_color \ /camera/depth_registered/image_raw \ /camera/rgb/camera_info \ /scan [ INFO] [1652785196.430619655]: Starting depth stream. [ INFO] [1652785196.485714249]: Using plugin "static_layer" [ INFO] [1652785196.507918761]: Requesting the map... [ INFO] [1652785196.833720084]: rtabmap 0.20.7 started... [ INFO] [1652785196.865288540]: Starting color stream. [ INFO] [1652785196.899460878]: using default calibration URL [ INFO] [1652785196.899626551]: camera calibration URL: file:///home/ros-kinetic/.ros/camera_info/rgb_PS1080_PrimeSense.yaml

[ INFO] [1652785197.129877487]: Resizing costmap to 421 X 421 at 0.050000 m/pix [ INFO] [1652785197.229500170]: Received a 421 X 421 map at 0.050000 m/pix [ INFO] [1652785197.244060075]: Using plugin "obstacle_layer" [ INFO] [1652785197.250713007]: Subscribed to Topics: scan bump [ INFO] [1652785197.390846955]: Using plugin "inflation_layer" [ INFO] [1652785197.559854968]: Using plugin "obstacle_layer" [ INFO] [1652785197.565924006]: Subscribed to Topics: scan bump [ INFO] [1652785197.708939760]: Using plugin "inflation_layer" [ INFO] [1652785197.822253967]: Created local_planner dwa_local_planner/DWAPlannerROS [ INFO] [1652785197.830981659]: Sim period is set to 0.20

[ INFO] [1652785198.617297610]: Recovery behavior will clear layer obstacles [ INFO] [1652785198.628053786]: Recovery behavior will clear layer obstacles

[ INFO] [1652785291.488916508]: Got new plan [ INFO] [1652785292.488695455]: Got new plan [ INFO] [1652785293.489081057]: Got new plan [ WARN] [1652785293.522949237]: Could not get transform from odom to base_link after 2.000000 seconds (for stamp=1652785291.397353)! Error="Lookup would require extrapolation into the future. Requested time 1652785291.397352688 but the latest data is at time 1652785291.375172479, when looking up transform from frame [base_link] to frame [odom]. canTransform returned after 2.01485 timeout was 2.".

[ INFO] [1652785294.488717143]: Got new plan

[ INFO] [1652785295.488723076]: Got new plan

[ INFO] [1652785296.488706476]: Got new plan

[ INFO] [1652785297.488865146]: Got new plan

[ INFO] [1652785298.488879925]: Got new plan

[ INFO] [1652785299.488863353]: Got new plan

[ INFO] [1652785300.488694672]: Got new plan

[ INFO] [1652785301.488770514]: Got new plan [ WARN] [1652785301.688729770]: Clearing costmap to unstuck robot (3.000000m). [ INFO] [1652785302.088695583]: Got new plan

[ INFO] [1652785303.088729734]: Got new plan

[ INFO] [1652785304.088727756]: Got new plan

[ INFO] [1652785305.088715318]: Got new plan

[ INFO] [1652785306.088728828]: Got new plan

[ INFO] [1652785307.088724153]: Got new plan

[ INFO] [1652785308.088724206]: Got new plan

[ INFO] [1652785309.088922734]: Got new plan

[ INFO] [1652785310.088674267]: Got new plan

[ INFO] [1652785311.089041381]: Got new plan

[ INFO] [1652785312.088882862]: Got new plan [ WARN] [1652785312.288919824]: Rotate recovery behavior started.

^C[rtabmap/rtabmap-23] killing on exit [move_base-22] killing on exit [kobuki_safety_controller-21] killing on exit [depthimage_to_laserscan-19] killing on exit [navigation_velocity_smoother-20] killing on exit [camera_base_link1-16] killing on exit [camera_base_link3-18] killing on exit [camera_base_link2-17] killing on exit [camera/disparity_registered_hw-14] killing on exit [camera_base_link-15] killing on exit [camera/disparity_depth-13] killing on exit [camera/depth_registered_metric-12] killing on exit [camera/points_xyzrgb_hw_registered-10] killing on exit [camera/depth_registered_hw_metric_rect-11] killing on exit [camera/depth_registered_rectify_depth-9] killing on exit [camera/depth_points-8] killing on exit [camera/depth_metric-7] killing on exit [camera/depth_metric_rect-6] killing on exit [camera/depth_rectify_depth-5] killing on exit [ INFO] [1652785342.250039881]: Stopping depth stream. [camera/ir_rectify_ir-4] killing on exit [camera/rgb_rectify_color-3] killing on exit [camera/driver-2] killing on exit [camera/camera_nodelet_manager-1] killing on exit rtabmap: Saving database/long-term memory... (located at /home/ros-kinetic/.ros/rtabmap.db) rtabmap: 2D occupancy grid map saved. rtabmap: Saving database/long-term memory...done! (located at /home/ros-kinetic/.ros/rtabmap.db, 71 MB) shutting down processing monitor... ... shutting down processing monitor complete done

matlabbe commented 2 years ago

Well, I cannot see the how fully rtabmap is configured, but:

then I think I should publish transform from base_link to base_footprint and map to odom and I did that but NAO also can not move towards to the target and also apper warn log：

You should not publish a fixed tf on map->odom, rtabmap will publish it.

For the planning issues, unless it is related to map->base_link TF issue, it would be more a planning issue.