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[CARTOGRAPHER] "Submaps: For frame [map]: Frame [map] does not exist"

asked 2019-06-12 08:48:55 -0500

hachbani gravatar image

Hi, I've been trying to set up Cartographer on ROS. I'm going to give as much details as I can. I want to run cartographer on my own bag.

The issue: When I launch cartographer, I get nothing on the Rviz display, it gives me a error (screenshot: https://imgur.com/a/tq3G3jR)

When I run rqt_graph : https://imgur.com/a/ShktkBL

Here's my rqt_tf_tree: https://imgur.com/a/ReV7MYc

I launch cartographer using this command: roslaunch cartographer_ros demo_my_robot.launch bag_filename:=/home/hamza/Documents/bags_ouster/2019-05-10-11-00-03.bag

Here's my .launch file :

<launch>
  <param name="/use_sim_time" value="true" />

  <include file="$(find cartographer_ros)/launch/backpack_3d.launch" />

  <remap from="/os1_cloud_node/points" to="/points2"/>

  <node pkg="tf" type="static_transform_publisher" name="tf_pub" args="0 0 0 0 0 0 /base_link /os1_sensor 100"/>

  <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz" />
  <node name="playbag" pkg="rosbag" type="play"
      args="--clock $(arg bag_filename)" />
</launch>

A pice of my robot.lua script:

  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "base_link",
  odom_frame = "odom",
  provide_odom_frame = true,
  use_odometry = false,

I've been trying to figure out the problem for so long, but with no clue of its source, it's tough. Anyone can help please ?

If you need any additionnal infos, feel free to ask, Im active all the time.

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answered 2019-06-12 09:05:18 -0500

fyi gravatar image

what is the header or frame_id of your bag file? ensure if corresponds to tracking_frame = , published_frame = ,

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Hi, Thanks for your response. As a ROS newbie, I don't know how to get to know the header of frame_id of my bag file, can you explain to me please ?

hachbani gravatar imagehachbani ( 2019-06-12 09:10:53 -0500 )edit

do $ rostopic list after you've launched your demo_my_robot.launch file have a look for what is being published i.e /laser , horizontal_laser_2d.... the once you've found out where your info is coming from do rostopic echo /laser (if its laser or rostopic echo /horizontal_laser_2d if its horizontal_laser_2d)

then soon after do ctrl+c to cancel analyse the output for frame_id in the data published

fyi gravatar imagefyi ( 2019-06-12 09:19:52 -0500 )edit

The information (Pointclouds) are coming from /points2. Rostopic echo /points2 is giving a lot of points coordinates but no frame_id infos. What is it supposed to look like ?

THnaks

hachbani gravatar imagehachbani ( 2019-06-12 09:36:12 -0500 )edit

okay what does it read in terminal when you launch your launch file? also noticed your fixed frame in rviz global options should be set to /map

fyi gravatar imagefyi ( 2019-06-12 10:22:28 -0500 )edit

Here's the result of $ rostopic echo /points2 : https://pastebin.com/MybV1R6H Do you know how to make sure that the topic in question is indeed the PointCloud topic ?

When I set the fixed frame to /map, I get a lot of errors in Rviz, I looked for it online and I did understood that It should be base_link, I don't know why though.

Thanks for your time, really appreciate it

hachbani gravatar imagehachbani ( 2019-06-12 16:03:23 -0500 )edit

hi @fyi, I just figred out by accident the frame_id of my PointCloud topic. it's os1_lidar. So I should make tracking_frame = os1_lidar and published_frame=os1_lidar as well ?

hachbani gravatar imagehachbani ( 2019-06-14 07:14:47 -0500 )edit

yes did it work?

fyi gravatar imagefyi ( 2019-06-14 10:04:15 -0500 )edit

Please post your updated .lua file and launch file

fyi gravatar imagefyi ( 2019-06-14 10:05:54 -0500 )edit

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Asked: 2019-06-12 08:48:55 -0500

Seen: 13 times

Last updated: Jun 12