Google Cartographer - Setup Issues

asked 2016-11-05 06:33:29 -0600

MarkyMark2012
1834 ●94 ●110 ●138

Hi All,

I'm trying to get google's cartographer up and running on my turtle-like robot. Using https://google-cartographer-ros-for-t... as a starting point.

I've updated demo_depth_camera_2d.launch & turtle_depth_camera_2d.lua

I have a problem with the tracking_frame parameter - it was set to gyro_link (which I don't have) so I tried setting it to imu_msg and base_link. Both with out success. I keep getting an error message:

 W1105 11:30:18.000000 16684 tf_bridge.cc:51] "imu_msg" passed to lookupTransform argument source_frame does not exist

regardless if:

 tracking_frame = "base_link"

or

tracking_frame = "imu_msg"

Does anyone have any thoughts? My graph is currently looking like:

image description

Thanks

Mark

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answered 2016-11-05 07:24:51 -0600

MarkyMark2012
1834 ●94 ●110 ●138

So adding a static transform between the IMU and the base_link seems to have solved the first issue.

<node pkg="tf" type="static_transform_publisher" name="static_transform_publisher3" args="0 0 0.3 0 0 0 1 base_link imu_msg 100"/>

Now getting:

[FATAL] [1478348520.099726403]: F1105 12:22:00.000000 17582 imu_tracker.cc:66] Check failed: (orientation_ * gravity_vector_).z() > 0. (nan vs. 0)

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answered 2016-12-01 02:21:16 -0600

damonkohler
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updated 2016-12-01 02:21:38 -0600

"imu_msg" as a frame name sounds fishy to me. Do you have an IMU on your robot or not? If you don't , you'll need to disable using IMU data in your configuration. Based on the imu_tracker error, I expect your IMU data is somehow incorrect/bogus.