Multi robot map merge - Issue

[rananat]

We tried the package in humble for multi robots map merge with slam-gmapping - rviz and gazebo do not launch as expected.

We tried it in foxy - rviz, gazebo and map-merge node all started fine but could not navigate the robots in rviz as the goal was always rejected by the server for both the robots. Rviz that is supposed to show the merged map was empty.

We tried it in Galactic - the launch is fine, could navigate both robots in rviz, could run map merge and it subscribes to /robot1/map and /robot2/map and /robot1/map_updates and /robot2/map_updates but the rviz instance for showing the merged map is empty.

[rananat]

In Galactic, changing the value of the param world_frame from world to map in the params.yaml file in the config folder of map_merge, rviz could show the merged map (need to add map topic to rviz by clicking the add button). The param value map_udpates is also corrected to map_updates in the same file.

[charlielito]

@rananat I just saw the typo in that params.yaml. I'll fix it, thanks. Can we close the issue or are you still having a problem? If so, can you share a step-by-step procedure to reproduce your problem?

[rananat]

Hi Carlos,

Thank you. Wish to know if the package is working in Humble? In Foxy, after setup and launch, whenever we set the goal using 2D Goal Pose button, the goal is rejected by the server.

Best regards, Samsad Beagum

On Thu, 23 Mar 2023, 05:48 Carlos Andrés Álvarez Restrepo, < @.***> wrote:

@rananat https://github.com/rananat I just saw the typo in that params.yaml. I'll fix it, thanks. Can we close the issue or are you still having a problem? If so, can you share a step by step procedure to reproduce your issue?

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[charlielito]

Yes, it should be working in foxy, galactic, and humble. if you don't provide a way to reproduce the error is very difficult to help you

[rananat]

Thank you. Cloned and built the workspace src folder with m-explore-ros2 and slam_gmapping as specified in the readme file. Sourced both Humble and workspace. Exported TURTLEBOT3_MODEL and GAZEBO_MODEL_PATH. Launched ros2 launch multirobot_map_merge multi_tb3_simulation_launch.py slam_gmapping:=True

In another window, sourced Humble and workspace and launched ros2 launch multirobot_map_merge map_merge.launch.py (this is fine)

Gazebo and Rviz launched, rviz showing no robot and no map with no map warning. The multi_tb3_simulation_launch window repeatedly shows the following timed out information.

[controller_server-17] [INFO] [1680228103.921692998] [robot2.local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.

[controller_server-6] [INFO] [1680228103.922840619] [robot1.local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.

The following is the log of messages that eventually lead to the above timed-out messages. ... ... [gazebo-1] Gazebo multi-robot simulator, version 11.10.2 [gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation. [gazebo-1] Released under the Apache 2 License. [gazebo-1] http://gazebosim.org [gazebo-1] [smoother_server-18] [INFO] [1680228677.578730162] [robot2.smoother_server]: Created smoother : simple_smoother of type nav2_smoother::SimpleSmoother [smoother_server-18] [INFO] [1680228677.580079868] [robot2.smoother_server]: Smoother Server has simple_smoother smoothers available. [lifecycle_manager-24] [INFO] [1680228677.588836021] [robot2.lifecycle_manager_navigation]: Configuring planner_server

[planner_server-19] [INFO] [1680228677.594463420] [robot2.global_costmap.global_costmap]: Using plugin "static_layer" [planner_server-19] [INFO] [1680228677.598176230] [robot2.global_costmap.global_costmap]: Subscribing to the map topic (/robot2/map) with transient local durability [planner_server-19] [INFO] [1680228677.599246858] [robot2.global_costmap.global_costmap]: Initialized plugin "static_layer" [planner_server-19] [INFO] [1680228677.599276305] [robot2.global_costmap.global_costmap]: Using plugin "obstacle_layer" [planner_server-19] [INFO] [1680228677.600669234] [robot2.global_costmap.global_costmap]: Subscribed to Topics: [planner_server-19] [INFO] [1680228677.600755443] [robot2.global_costmap.global_costmap]: Initialized plugin "obstacle_layer" [planner_server-19] [INFO] [1680228677.600773467] [robot2.global_costmap.global_costmap]: Using plugin "inflation_layer" [planner_server-19] [INFO] [1680228677.601948649] [robot2.global_costmap.global_costmap]: Initialized plugin "inflation_layer" [lifecycle_manager-13] [INFO] [1680228677.611347552] [robot1.lifecycle_manager_navigation]: Configuring waypoint_follower

[planner_server-19] [INFO] [1680228677.614492818] [robot2.planner_server]: Created global planner plugin GridBased of type nav2_navfn_planner/NavfnPlanner [planner_server-19] [INFO] [1680228677.614525877] [robot2.planner_server]: Configuring plugin GridBased of type NavfnPlanner [planner_server-19] [INFO] [1680228677.615598235] [robot2.planner_server]: Planner Server has GridBased planners available. [waypoint_follower-11] [INFO] [1680228677.622665723] [robot1.waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint [lifecycle_manager-13] [INFO] [1680228677.624110409] [robot1.lifecycle_manager_navigation]: Configuring velocity_smoother [velocity_smoother-12] [INFO] [1680228677.624378910] [robot1.velocity_smoother]: Configuring velocity smoother [lifecycle_manager-13] [INFO] [1680228677.627726458] [robot1.lifecycle_manager_navigation]: Activating controller_server

[controller_server-6] [INFO] [1680228677.628048093] [robot1.local_costmap.local_costmap]: Checking transform [controller_server-6] [INFO] [1680228677.628087183] [robot1.local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees. [lifecycle_manager-24] [INFO] [1680228677.642793719] [robot2.lifecycle_manager_navigation]: Configuring behavior_server

[behavior_server-20] [INFO] [1680228677.654885669] [robot2.behavior_server]: Creating behavior plugin spin of type nav2_behaviors/Spin [behavior_server-20] [INFO] [1680228677.657454056] [robot2.behavior_server]: Configuring spin [behavior_server-20] [INFO] [1680228677.674246857] [robot2.behavior_server]: Creating behavior plugin backup of type nav2_behaviors/BackUp [behavior_server-20] [INFO] [1680228677.674973853] [robot2.behavior_server]: Configuring backup [behavior_server-20] [INFO] [1680228677.692498087] [robot2.behavior_server]: Creating behavior plugin drive_on_heading of type nav2_behaviors/DriveOnHeading [behavior_server-20] [INFO] [1680228677.693199814] [robot2.behavior_server]: Configuring drive_on_heading [behavior_server-20] [INFO] [1680228677.698768957] [robot2.behavior_server]: Creating behavior plugin wait of type nav2_behaviors/Wait [behavior_server-20] [INFO] [1680228677.699451464] [robot2.behavior_server]: Configuring wait [lifecycle_manager-24] [INFO] [1680228677.706653179] [robot2.lifecycle_manager_navigation]: Configuring bt_navigator

[lifecycle_manager-24] [INFO] [1680228677.764656406] [robot2.lifecycle_manager_navigation]: Configuring waypoint_follower

[waypoint_follower-22] [INFO] [1680228677.777912393] [robot2.waypoint_follower]: Created waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint [lifecycle_manager-24] [INFO] [1680228677.779082190] [robot2.lifecycle_manager_navigation]: Configuring velocity_smoother [velocity_smoother-23] [INFO] [1680228677.779359396] [robot2.velocity_smoother]: Configuring velocity smoother [lifecycle_manager-24] [INFO] [1680228677.782707748] [robot2.lifecycle_manager_navigation]: Activating controller_server

[controller_server-17] [INFO] [1680228677.783070432] [robot2.local_costmap.local_costmap]: Checking transform [controller_server-17] [INFO] [1680228677.783109824] [robot2.local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees. [controller_server-6] [INFO] [1680228678.128129311] [robot1.local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees. [controller_server-17] [INFO] [1680228678.283264722] [robot2.local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees. [controller_server-6] [INFO] [1680228678.628242643] [robot1.local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees. [controller_server-17] [INFO] [1680228678.783276878] [robot2.local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees. [gazebo-1] ../src/intel/isl/isl.c:2216: FINISHME: ../src/intel/isl/isl.c:isl_surf_supports_ccs: CCS for 3D textures is disabled, but a workaround is available. [gazebo-1] [Msg] Waiting for master. [gazebo-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [gazebo-1] [Msg] Publicized address: 10.50.89.82 [gazebo-1] [Msg] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [gazebo-1] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call [controller_server-6] [INFO] [1680228679.128134927] [robot1.local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees. [controller_server-17] [INFO] [1680228679.283274671] [robot2.local_costmap.local_costmap]: Timed out waiting for transform from base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ....