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I follow the tutorial turtlebot_simulator to make a map in a simulated world.But when I run
roslaunch turtlebot_gazebo gmapping_demo.launch
a error that scan message must contain angles from -x to x occurs, as show below. How to deal with it.
[ERROR] [1433813576.466253926, 24.270000000]: Scan message must contain angles from -x to x, i.e. angle_min = -angle_max
Hi all, thank you for sharing the data. A fix was merged upstream in 1.3.8: it just reached shadow fixed so please test. The fix centers the scan before sending them to gmapping, whether they're slightly / completely off-centered or even upside-down.
This error is due to recent change in gmapping package. This can be fixed by modifying and recompiling the gmapping package as follows:
$ wget http://packages.ros.org/ros/ubuntu/pool/main/r/ros-indigo-gmapping/ros-indigo-gmapping_1.3.7.orig.tar.gz
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
$ tar xvf ../../ros-indigo-gmapping_1.3.7.orig.tar.gz
$ mv ros-indigo-gmapping-1.3.7/ gmapping
$ gedit gmapping/src/slam_gmapping.cpp
if (fabs(fabs(scan.angle_min) - fabs(scan.angle_max)) > FLT_EPSILON) if (fabs(fabs(scan.angle_min) - fabs(scan.angle_max)) > 0.003) // this is the value for Kinect$ cd ..
$ catkin_make
$ sudo cp devel/lib/gmapping/slam_gmapping* /opt/ros/indigo/lib/gmapping/
This is not working for me. Followed the instructions but still getting same error. Any ideas? (I'm using Ubuntu 14.04.2 LTS and Turtlebot 2)
@Salocin808 Instant workaround (not a "solution") can be to play with FLT_EPSILON value that works for you. Once you find the smallest working value sharing it with us would be beneficial.
@130s Ok thanks for your help! I am already at home but will try it tomorrow morning.
@130s I changed the error message so that it prints out the difference between the angles:
[ERROR] [1437121911.683298899]: Edited: Scan message must contain angles from -x to x, i.e. angle_min (0.513185) = -angle_max (0.499907). min-max = 0.013278
Maybe EPSILON should be 0.03?
please guys, don't try to find workarounds: report the bug at least; better, help fixing it :)
well, after changing the value to 0.03 I never had problems.. where should I report the bug?
Combining two answers, this now works, assuming you have a catkin workspace set up already:
wget http://packages.ros.org/ros/ubuntu/pool/main/r/ros-indigo-gmapping/ros-indigo-gmapping_1.3.8.orig.tar.gz
cd ~/catkin_ws/src
tar xvf ../../ros-indigo-gmapping_1.3.8.orig.tar.gz
mv ros-indigo-gmapping-1.3.8/ gmapping
catkin_make
sudo cp devel/lib/gmapping/slam_gmapping* /opt/ros/indigo/lib/gmapping/
but I can not find gmapping/ in devel/lib after I run 'catkin_make'
While @chuong's answer can be referenced as a temporary workaround, I filed a discussion ticket in gmapping community for the permanent solution.
UPDATE @Vincent Rabaud opened a pull request that can be the permanent solution for this issue. Try it out, and give feedback in the ticket.
can anybody please send me a failing rosbag ? My personal email is https://github.com/ros-perception/sla...
@Salocin808 Permanent, general solution is discussed in this ticket. And I've already did debug print hack haha
I tested @Vincent Rabaud's patch and found gmapping didn't run as expected. It printed "Registering First Scan" then stopped updating. There was no other output until being killed.
For a pull request, let's keep discussing in the pull request page instead of distributing info at multiple places.
Now you just need to download the latest version of gmapping(1.3.8), extract it into your catkin_ws/src.
Then
$ catkin_make
Finally:
$ sudo cp devel/lib/gmapping/slam_gmapping* /opt/ros/indigo/lib/gmapping/
Hope this works for you :)
Asked: 2015-06-08 21:30:06 -0500
Seen: 2,126 times
Last updated: Mar 05 '16
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I am facing the same issue, any possible solution?
me too , do you have any possible solution
No i have not found any.. starting looking at jackal robot.
I have the same problem. This is the new behaviour in the latest ros-indigo-gmapping-1.3.7 package. CHANGELOG.rst says: .... * Added cfloat include * Change arbitrary constant to FLT_EPSILON * Added check that scan goes from -x to x .......