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Why doesn't the Turtlebot tutorial for SLAM map building work?

asked 2011-09-18 16:12:05 -0500

edgan gravatar image

updated 2011-09-18 16:34:02 -0500

I am trying to use the Turtlebot tutorial for SLAM map building. I can run the the gmapping app on the Turtlebot, and then run rviz on the my laptop. The /map topic doesn't seem to be working, and rviz receives no data.

Rviz:

Global Status: Error    Fixed Frame [/map] does not exist

02. Map (Map)
Status: Warning
Message  No map received

Gmapping:

turtlebot@turtlebot-0169:~$ roslaunch turtlebot_navigation gmapping_demo.launch
... logging to /home/turtlebot/.ros/log/4d75f176-e274-11e0-90a4-485d607558c5/roslaunch-turtlebot-0169-19921.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://turtlebot-0169:35895/

SUMMARY
========

PARAMETERS
 * /slam_gmapping/sigma
 * /robot_pose_ekf/odom_used
 * /robot_pose_ekf/vo_used
 * /kinect_laser/output_frame_id
 * /move_base/TrajectoryPlannerROS/vx_samples
 * /move_base/local_costmap/observation_sources
 * /slam_gmapping/lskip
 * /move_base/TrajectoryPlannerROS/acc_lim_y
 * /move_base/TrajectoryPlannerROS/acc_lim_x
 * /slam_gmapping/ogain
 * /move_base/TrajectoryPlannerROS/sim_time
 * /move_base/local_costmap/transform_tolerance
 * /move_base/TrajectoryPlannerROS/min_vel_x
 * /move_base/local_costmap/height
 * /move_base/global_costmap/scan/topic
 * /kinect_laser_narrow/max_height
 * /slam_gmapping/map_update_interval
 * /move_base/global_costmap/obstacle_range
 * /move_base/local_costmap/inflation_radius
 * /kinect_laser/max_height
 * /openni_camera/projector_depth_baseline
 * /kinect_laser_narrow/output_frame_id
 * /move_base/local_costmap/robot_radius
 * /openni_camera/depth_frame_id
 * /move_base/local_costmap/static_map
 * /move_base/local_costmap/resolution
 * /slam_gmapping/lsigma
 * /openni_camera/image_time_offset
 * /move_base/global_costmap/publish_frequency
 * /slam_gmapping/srt
 * /slam_gmapping/srr
 * /move_base/local_costmap/width
 * /move_base/TrajectoryPlannerROS/max_vel_x
 * /move_base/local_costmap/rolling_window
 * /move_base/controller_frequency
 * /openni_camera/depth_time_offset
 * /move_base/local_costmap/scan/clearing
 * /openni_camera/depth_mode
 * /slam_gmapping/lasamplestep
 * /slam_gmapping/angularUpdate
 * /move_base/TrajectoryPlannerROS/xy_goal_tolerance
 * /move_base/global_costmap/scan/sensor_frame
 * /move_base/global_costmap/inflation_radius
 * /slam_gmapping/temporalUpdate
 * /slam_gmapping/particles
 * /rosdistro
 * /robot_pose_ekf/freq
 * /move_base/local_costmap/scan/data_type
 * /move_base/TrajectoryPlannerROS/max_rotational_vel
 * /move_base/TrajectoryPlannerROS/goal_distance_bias
 * /slam_gmapping/lasamplerange
 * /slam_gmapping/resampleThreshold
 * /move_base/local_costmap/scan/marking
 * /slam_gmapping/linearUpdate
 * /kinect_laser_narrow/min_height
 * /move_base/global_costmap/static_map
 * /robot_pose_ekf/publish_tf
 * /move_base/global_costmap/scan/data_type
 * /robot_pose_ekf/sensor_timeout
 * /move_base/TrajectoryPlannerROS/dwa
 * /robot_pose_ekf/imu_used
 * /pointcloud_throttle/max_rate
 * /move_base/global_costmap/robot_base_frame
 * /move_base/local_costmap/scan/topic
 * /slam_gmapping/astep
 * /move_base/local_costmap/update_frequency
 * /move_base/local_costmap/raytrace_range
 * /slam_gmapping/xmax
 * /move_base/local_costmap/publish_frequency
 * /move_base/global_costmap/observation_sources
 * /slam_gmapping/llsamplestep
 * /slam_gmapping/xmin
 * /slam_gmapping/delta
 * /move_base/global_costmap/update_frequency
 * /move_base/TrajectoryPlannerROS/acc_lim_th
 * /openni_camera/shift_offset
 * /move_base/TrajectoryPlannerROS/min_in_place_rotational_vel
 * /move_base/TrajectoryPlannerROS/heading_lookahead
 * /move_base/TrajectoryPlannerROS/holonomic_robot
 * /move_base/TrajectoryPlannerROS/yaw_goal_tolerance
 * /slam_gmapping/lstep
 * /slam_gmapping/llsamplerange
 * /move_base/global_costmap/scan/clearing
 * /slam_gmapping/maxUrange
 * /move_base/TrajectoryPlannerROS/path_distance_bias
 * /openni_camera/image_mode
 * /move_base/global_costmap/robot_radius
 * /move_base/local_costmap/scan/sensor_frame
 * /move_base/local_costmap/robot_base_frame
 * /openni_camera/depth_rgb_translation
 * /move_base/global_costmap/transform_tolerance
 * /move_base/global_costmap/scan/marking
 * /openni_camera/depth_registration
 * /kinect_laser/min_height
 * /move_base/local_costmap/obstacle_range
 * /move_base/global_costmap/raytrace_range
 * /move_base/TrajectoryPlannerROS/vtheta_samples
 * /openni_camera/depth_rgb_rotation
 * /move_base/TrajectoryPlannerROS/oscillation_reset_dist
 * /slam_gmapping/kernelSize
 * /rosversion
 * /openni_camera/debayering
 * /move_base/local_costmap/global_frame
 * /move_base/global_costmap/global_frame
 * /slam_gmapping/iterations
 * /openni_camera/rgb_frame_id
 * /slam_gmapping/ymin
 * /slam_gmapping/stt
 * /slam_gmapping/ymax
 * /slam_gmapping/str
 * /slam_gmapping/odom_frame

NODES
  /
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
    slam_gmapping (gmapping/slam_gmapping)
    move_base (move_base/move_base)
    kinect_breaker_enabler (turtlebot_node/kinect_breaker_enabler.py)
    openni_manager (nodelet/nodelet)
    openni_camera (nodelet/nodelet)
    pointcloud_throttle (nodelet/nodelet)
    kinect_laser (nodelet/nodelet)
    kinect_laser_narrow (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[robot_pose_ekf-1]: started with pid [20060]
process[slam_gmapping-2]: started with pid [20067]
process[move_base-3]: started with pid [20076]
process[kinect_breaker_enabler-4]: started with pid [20091]
process[openni_manager-5]: started with pid [20100]
process[openni_camera-6]: started with pid [20114]
process[pointcloud_throttle-7]: started with pid [20120]
process[kinect_laser-8]: started with pid [20128]
process[kinect_laser_narrow-9]: started with pid [20144]
[ INFO] [1316405004.001125207]: [/openni_camera] No devices connected.... waiting for devices to be connected
[ INFO] [1316405004 ...
(more)
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2 Answers

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answered 2011-09-19 12:33:34 -0500

edgan gravatar image

I wasn't setting ROS_HOSTNAME on the turtlebot. So it was defaulting to the hostname, like ROS_HOSTNAME=turtlebot-0169. My laptop couldn't resolve turtlebot-0169, and so it couldn't pull the data for rviz.

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answered 2011-09-18 16:28:27 -0500

tfoote gravatar image

It looks like the camera took until second ~5017 to turn on. And then the map was initialized and published by ~5021. The map won't be initialized until it starts receiving laser scans. So it looks like it has come up by the end there.

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Comments

I wait for the camera to come up before I start Rviz, and most of the time it comes up more directly.
edgan gravatar imageedgan ( 2011-09-18 16:33:06 -0500 )edit

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Asked: 2011-09-18 16:12:05 -0500

Seen: 1,540 times

Last updated: Sep 19 '11