Slam gmapping tutorial troubleshooting

asked 2011-07-19 14:31:41 -0600

Khiya
49 ●9 ●10 ●15

Hello, I'm following the map-building tutorial at http://www.ros.org/wiki/slam_gmapping... and I can get all the way through step 2 (hurray). Then when I enter:

 $ rosbag play aptLaserData.bag

which is the second part 1 of step 2, I get the error:

[ INFO] [1311128237.384522694]: Opening aptLaserData.bag

[FATAL] [1311128237.388682646]: Time is out of dual 32-bit range

My .bag file is indeed named aptLaserData.bag, but could you tell me what's causing the problem?

Thanks, Khiya

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Another user reported the same problem, using the bag supplied with the tutorial: http://answers.ros.org/question/248/slam_gmapping-mappingfromloggeddata-out-of-dual-32. I wasn't able to reproduce it. Can you post your bag somewhere that we can try playing it back?

Brian Gerkey ( 2011-07-20 03:42:18 -0600 )edit

Brian, I can't find a way to upload a .bag file onto ROS answers. Unless you know of a better way to put my data online, I'm going to upload it to the repository for one of my other projects and make it available there.

Khiya ( 2011-07-20 06:10:44 -0600 )edit

PS, could this problem have to do with the fact that I'm using a virtual machine running Ubuntu 10.10 from a 32-bit Windows machine running Vista?

Khiya ( 2011-07-21 03:01:18 -0600 )edit

Hi Brian, thanks for your patience! Please see my comment on Tim's post, below, for access to my aptLaserData.bag file.

Khiya ( 2011-07-28 05:39:48 -0600 )edit

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answered 2011-09-02 10:56:44 -0600

kwc
12244 ●54 ●90 ●132 http://kwc.org/

No activity in a month, closing. In the future, please use the 'edit' feature to update the original question, or 'post a comment' feature in order to do followup so that it is more easy to track the state of the Q&A.

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answered 2011-08-03 09:10:35 -0600

Khiya
49 ●9 ●10 ●15

I've found a partial solution: I do not have a fully functional robot yet - I was assuming I could just set up slam_gmapping with a Hokuyo URG-04LX laser ranger and an ASUS EeeBox running ROS. That means I had not set up my /tf or /odom nodes. I'm not sure why this caused trouble, but apparently it did. As a temporary fix, I used this launch file to initialize the laser before I ran through the steps in slam_gmapping tutorial:

 <launch>
    <node pkg="hokuyo_node" type="hokuyo_node" name="scan">
    <param name="port" value = "/dev/robot/laser" />
    <param name="max_ang_degrees" value="90" />
    <param name="min_ang_degrees" value="-90" />
    <param name="frame_id" value="base_scan" />
    </node>

    <node pkg="tf" type="static_transform_publisher" name="hokuyo_static_tf_publisher" args="0 0 0 0 0 0 1 base_link base_scan 50" />

    <node pkg="tf" type="static_transform_publisher" name="odom_static_tf_publisher" args="0 0 0 0 0 0 1 odom base_link 50"/>

</launch>

All I did in this file was set up a static identity transform from base_link to base_scan, and from odom to base_link. The dual 32-bit error did not appear, thankfully, but another problem did happen: In the terminal running slam_gmapping, this warning appeared when I played back the bag file:

[WARN] [1312405487.766138148]: TF_OLD_DATA ignoring data from the past for frame /odom at time 1.31241e+09 according to authority /play_1312405475737786833
Possible reasons are listed at 
[ WARN] [1312405487.768969562]: TF_OLD_DATA ignoring data from the past for frame /base_scan at time 1.31241e+09 according to authority /play_1312405475737786833
Possible reasons are listed at 
[ WARN] [1312405487.780878676]: TF_OLD_DATA ignoring data from the past for frame /odom at time 1.31241e+09 according to authority /play_1312405475737786833
Possible reasons are listed at

and then nothing, so I don't know where 'Possible reasons' are listed. After that, when I ran the map_saver function, it began but I received a 'Waiting for map' message that did not end until I canceled the process.

There must be something else that's obvious, I'm just missing it. Can anyone spot it?

Thanks,

Khiya

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answered 2011-07-27 06:23:46 -0600

Tim Field
191 ●2 ●4 ●4

Khiya, I'd like to reproduce your problem. Can you please give me a link to aptLaserData.bag?

Also, I reindexed the basic_localization_stage.bag referenced in the tutorial. If you have a chance, can you try downloading the bag again and see if you have the same problem.

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Tim, thanks for your patience. I've added aptLaserData.bag to my current project trunk at googlecode, https://e-bot.googlecode.com/svn/trunk/ . I think you should be able to use svn to get a copy. And if you know of a better way to pass .bag files around the Internet, please let me know. Thanks!

Khiya ( 2011-07-28 05:38:22 -0600 )edit

Tim, I also just tried reindexing basic_localization_stage.bag before playing it. Unfortunately the same error occurred at almost the exact same time.

Khiya ( 2011-07-28 06:01:45 -0600 )edit

Just in case it's relevant, I first calibrated my laser scanner following the basic suggestions at http://www.ros.org/wiki/hokuyo_node/Tutorials/UsingTheHokuyoNode . I started hokuyo_node, then began the gmapping tutorial above. Could it just be a configuration I've missed?

Khiya ( 2011-08-02 07:48:47 -0600 )edit

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answered 2011-07-19 19:22:13 -0600

jan
28 ●3 ●3 ●8

Hi Khiya,

I am very new at ROS.org but I had a similar problem. First of all did you set your time to sim_time?

$ rosparam set use_sim_time true

After that try this command:

$ rosbag play aptLaserData.bag --clock

If it works let me know.

Jan

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Hi Jan, thanks for the suggestion, but it didn't work. I also tried setting use_sim_time to false, just in case, but of course that didn't work either. I'm still getting the exact same error either way.

Khiya ( 2011-07-20 02:53:02 -0600 )edit

I also forced use_sim_time to be false while I was logging the data, then set it back to true while trying to play it, but still no luck.

Khiya ( 2011-07-28 09:01:23 -0600 )edit

When should I use parameter --clock?When should not? Thank you~

sam ( 2011-07-28 13:21:54 -0600 )edit

Hm I dont know. Normally I did it every time when I let a rosbag-file play. @ Khiya I tried to reproduce the error but it works on my system without a problem. Have you tried to install a normal Ubuntu not in a VM?

jan ( 2011-07-28 18:51:50 -0600 )edit

Hi Jan, yes, I did test the same laser on an Ubuntu machine, same results. Sad Trombone.

Khiya ( 2011-07-29 01:36:19 -0600 )edit

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answered 2011-07-20 06:01:41 -0600

Khiya
49 ●9 ●10 ●15

One more thing: when I downloaded the provided .bag file from Willow Garage and tried playing it, this is what happened:

    $ rosbag play basic_localization_stage.bag
[ INFO] [1311183994.765718223]: Opening basic_localization_stage.bag

Waiting 0.2 seconds after advertising topics... done.

 Hit space to toggle paused, or 's' to step.
 [RUNNING]  Bag Time:     34.600000   Duration: 0.000000 / 1239670987.745222    
 [RUNNING]  Bag Time:     34.600420   Duration: 0.000420 / 1239670987.745222   
 [RUNNING]  Bag Time:     34.703970   Duration: 0.103970 / 1239670987.745222    
 [RUNNING]  Bag Time:     34.872898   Duration: 0.272898 / 1239670987.745222

...etc. It ran until bag time hit 126, then this message came up:

 [RUNNING]  Bag Time:    126.300712   Duration: 91.700712 / 1239670987.745222   
 [RUNNING]  Bag Time:    126.400910   Duration: 91.800910 / 1239670987.745222   
 [RUNNING]  Bag Time:    126.510560   Duration: 91.910560 / 1239670987.745222    
 [RUNNING]  Bag Time:    126.600720   Duration: 92.000720 / 1239670987.745222  
 [FATAL] [1311182318.849101157]: Time is out of dual 32-bit range

I went ahead with the next few steps in the tutorial anyway, and generated a partial map off the data from WG, below. Partial map from WG laser data

(not sure what's going on with the picture there - I'll try to get it up somehow)

Any enlightenment?

Thanks,

-Khiya

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