trajectory saving problem

asked 2014-02-17 23:53:02 -0600

programmer
51 ●11 ●12 ●16

updated 2014-02-18 22:16:58 -0600

when i do bellow tutorial to create hector_slam map with trajectory ,bellow error caused but i can see online map on rviz without any problem and with trajectory, but when i try to save map with hector_geotiff ,map saved without trajectory, what's problem?

[ERROR] [1392637719.233332009]: Trajectory Server: Transform from /map to scanmatcher_frame failed: Frame id /map does not exist! Frames (1):  

[ERROR] [1392637719.467775930]: Trajectory Server: Transform from /map to scanmatcher_frame failed: Frame id /map does not exist! Frames (3): Frame /laser exists with parent /base_link.
Frame /base_link exists with parent NO_PARENT.

slam.launch

<launch>

<param name="/use_sim_time" value="false"/>ros

<node pkg="rviz" type="rviz" name="rviz" 
args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.vcg"/>

<include file="$(find uprobotics)/launch/hector_mapping.launch"/>

<include file="$(find uprobotics)/launch/geotiff_mapper.launch">
<arg name="trajectory_source_frame_name" value="scanmatcher_frame"/> 
</include>

</launch>

hector_mapping.launch

<launch>

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping"    output="screen">

<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_link" />
<param name="odom_frame" value="base_link" />
<!-- Map size / start point -->
<param name="map_resolution" value="0.025"/>
<param name="map_size" value="2048"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="laser_z_min_value" value="-2.5" />
<param name="laser_z_max_value" value="7.5" />

<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.7" />    
<param name="map_update_distance_thresh" value="0.2"/>
<param name="map_update_angle_thresh" value="0.06" />
</node>

<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster"      args="0 0 0 0 0 0 /base_link /laser 100" />  

</launch>

geotiff_mapper.launch

in this file was modified only thing is the path where you save the geotiff generated in this case / home / viki / Desktop / maps

<launch>
<arg name="trajectory_source_frame_name" default="/base_link"/>
<arg name="trajectory_update_rate" default="4"/>
<arg name="trajectory_publish_rate" default="0.25"/>

<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
<param name="target_frame_name" type="string" value="/map" />
<param name="source_frame_name" type="string" value="$(arg trajectory_source_frame_name)" />
<param name="trajectory_update_rate" type="double" value="$(arg trajectory_update_rate)" />
<param name="trajectory_publish_rate" type="double" value="$(arg trajectory_publish_rate)" />
</node>


<node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
<remap from="map" to="/dynamic_map" />
<param name="map_file_path" type="string" value="/home/viki/Desktop/maps" />
<param name="map_file_base_name" type="string" value="uprobotics" />
<param name="geotiff_save_period" type="double" value="0" />
<param name="draw_background_checkerboard" type="bool" value="true" />
<param name="draw_free_space_grid" type="bool" value="true" />
</node>

</launch>

and is run as follows

$ roscore

$ sudo chmod a+rw /dev/ttyACM0

$ rosrun hokuyo_node hokuyo_node

$ uprobotics slam.launch

this is output of rosservice call trajectory:

  header: 
    seq: 0
    stamp: 
      secs: 1392735924
      nsecs: 220875750
    frame_id: /map
  pose: 
    position: 
      x: 0.0281494148076
      y: -0.153469845653
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: -0.124254979005
      w: 0.992250321337

and this is out put of rostopic echo trajectory:

header: 
        seq: 0
        stamp: 
          secs: 1392735923
          nsecs: 969870750
        frame_id: /map
      pose: 
        position: 
          x: 0.0127319339663
          y: -0.167738348246
          z: 0.0
        orientation: 
          x: 0.0
          y: 0.0
          z: -0.123253038025
          w: 0.992375276102

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2 Answers

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answered 2014-02-18 02:24:00 -0600

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

updated 2014-02-23 20:20:44 -0600

So you see the trajectory in rviz? That indicates that the trajectory server indeed runs and generates data correctly. hector_geotiff requests the robot trajectory from hector_trajectory_server via a service, so to see if this service provides reasonable data you can execute

rosservice call trajectory

Does this service call work? What is the output? If you post output, please add to your original question by editing it.

/edit: Ok, it turns out that the trajectory is indeed not visible for the tutorial launch file, as we changed things so plugins are used for adding visualization to hector_geotiff. To get trajectory visualization make sure to set the "plugins" parameter where you launch the hector_geotiff node, for example:

  <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
    <param name="map_file_path" type="string" value="$(find hector_geotiff)/maps" />
    <param name="map_file_base_name" type="string" value="" />
    <param name="geotiff_save_period" type="double" value="45" />

    <param name="plugins" type="string" value="hector_geotiff_plugins/TrajectoryMapWriter" />
  </node>

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Comments

yes, service call work and i added output of it in original question as you said. what's problem dear stefan? can i finally save *.tiff map file with trajectory?

programmer ( 2014-02-18 03:16:35 -0600 )edit

Well it´s highly unusual that there is only a single pose stored by the trajectory server. Never seen that before. What´s the output of "rostopic echo trajectory"?

Stefan Kohlbrecher ( 2014-02-18 04:45:04 -0600 )edit

No there was plenty of " header: seq: 0 stamp: secs: 1392735924 nsecs: 220875750 frame_id: /map pose: position: x: 0.0281494148076 y: -0.153469845653 z: 0.0 orientation: x: 0.0 y: 0.0 z: -0.124254979005 w: 0.992250321337 " but i added one of them, i include output of "rostopic echo trajectory" in original question, what do you think Dear Stefan?

programmer ( 2014-02-18 22:20:53 -0600 )edit

Ok, summing up: * You see the trajectory in rviz. * When rostopic echoing and rosservice calling the "trajectory" topic and service, respectively, you see an array of poses getting printed. * When looking at generated GeoTiffs you see the map as expected, but no path of the robot. To me this looks like the service call from hector_geotiff to hector_trajectory_server somehow does not work, but I don´t see a reason for that right now.

Stefan Kohlbrecher ( 2014-02-19 00:21:13 -0600 )edit

Thanks Dear Stefan for your time, can i ask you to publish a launch file for me?, I have two dynamixel motor to fix my laser with gyro. I want to create a savable map with trajectory... Thanks So much.

programmer ( 2014-02-19 05:48:26 -0600 )edit

I don´t have time to spare to experiment with a system I have no access to. Things also seem to work for other people, so it looks like something is wrong with your setup. I´d suggest trying from scratch on another machine for example.

Stefan Kohlbrecher ( 2014-02-20 22:29:27 -0600 )edit

Thanks Dear Stefan for your time.

programmer ( 2014-02-21 20:10:06 -0600 )edit

Dear Stefan, I think hector_geotiff package is something wrong, because i can see trajectory in rviz and just when i want to save tiff file by hector_geotiff, map saved without trajectory... what do you think Dear? Can you change hector_geotiff package to solve this problem?

programmer ( 2014-02-22 02:42:41 -0600 )edit

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