Problem with mapping (segmentation fault)
Hello, im new to ros and im trying to perform a mapping through a bag file in gmapping but unfortunately there is something wrong and i really dont know how to solve it. So in the bag file there are 2 main topic: /scan and /odometry. I know that in order to perform a mapping through gmapping i need a tftree, so i made a node which convert the odometry from the topic to a tf with frame name "odom" and framechild "baselink". Then i made a static tf which links baselink to laser and then i called the following command: rosrun gmapping slamgmapping scan:=/scan _baseframe:=baselink Now, notice that i have called my laser frame "laser". This is the same name of who is publishing the /scan topic from the bag. I dont know if this is the correct way to do this, i have even tried to do into my node a copy of the scan node but nothing works still. By the way performing as i described all this stuff this is the error i get:
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame mybaselink at time 1685626139.292196 according to authority unknown_publisher
at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.6/src/buffer_core.cpp
[ INFO] [1687033458.223514368, 1685626139.332606446]: Laser is mounted upwards.
Segmentation fault (core dumped)
Please tell me something i have no idea what to do
Asked by suchpuz on 2023-06-17 15:51:45 UTC
Comments
Do u have any update? I am having the same problem and still stuck here
Asked by helloqwer119 on 2023-07-29 09:18:10 UTC
I found out how to solve this but honestly i dont remember exactly what i did to solve this particular problem. Anyway i give u some tips that worked for me (and on which i wasted a lot of time) 1) use slam_toolbox instead of gmapping 2) this is really important: the order in ur launch file matters. Ensure to launch things in the right order. 3) check if the node which publish ur tf do it with the right frequency (the one used in the bag file). To check this u can use tf_tree comparing it wrt /odom o whatever it is. Wish this stuff can help u
Asked by suchpuz on 2023-07-31 06:59:03 UTC