ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

hector slam on ARM

asked 2014-10-28 11:34:37 -0500

Pilif gravatar image

updated 2014-10-28 13:55:11 -0500

ahendrix gravatar image


first of all let me say that all launch files I post here work on my PC, but not on pandaboard or parallella with Ubuntuarm Ros-hydro. I tried different launch files but my basic one is the following:

<node pkg="tf" type="static_transform_publisher"name="base_to_laser_broadcaster4"     
      args="0.0 0 0 0.0 0.0 0.0 /base_footprint/base_link 1" />                    
<node pkg="tf type="static_transform_publisher"name="base_to_laser_broadcaster3"    
      args="0.0 0 0 0.0 0.0 0.0 /base_link/laser_link 1" />                   
<arg name="geotiff_map_file_path" default="$(find hector_geotiff)/maps"/>         
<include file="$(find hector_mapping)/launch/mapping_default.launch"/>                     
<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">          
      <arg name="trajectory_source_frame_name" value="scanmatcher_frame"/>   
      <arg name="map_file_path" value="$(arg geotiff_map_file_path)"/>

Even with this one I get

[ERROR] [1414485362.668347630]: Trajectory Server: Transform from /map to scanmatcher_frame failed: "map"     passed to lookupTransform argument target_frame does not exist.

rqt_wtf gives me:

 Errors connecting to the following services: * service [/hector_geotiff_node/get_loggers] appears to be                 malfunctioning: Unable to communicate with service [/hector_geotiff_node/get_loggers],       address [  rosrpc://localhost:46397] * service [/hector_geotiff_node/set_logger_level] appears   to  be malfunctioning: Unable to communicate with service [/hector_geotiff_node/set_logger_level],    address               [rosrpc://localhost:46397]

but I can't make sense from it. Ideas what I'm missing?

edit retag flag offensive close merge delete


Please format your launch file so that it is readable.

ahendrix gravatar image ahendrix  ( 2014-10-28 12:31:59 -0500 )edit

sorry, should be fixed now

Pilif gravatar image Pilif  ( 2014-10-28 13:21:18 -0500 )edit

can you share frames.pdf from rosrun tf view_frames and rqt_graph.

bvbdort gravatar image bvbdort  ( 2014-10-28 13:29:44 -0500 )edit

sure - frames and graph

Pilif gravatar image Pilif  ( 2014-10-29 03:15:48 -0500 )edit

Looks like scan matchiing is failed, if scan matching is success hector mapping will broadcast map to scanmatcher_frame. Give a try with test bag file .

bvbdort gravatar image bvbdort  ( 2014-10-29 04:07:48 -0500 )edit

@bvbdort I tried it - I get the same problem.

Pilif gravatar image Pilif  ( 2014-11-03 03:23:10 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2014-10-28 14:05:34 -0500

ahendrix gravatar image

I suspect there's a node or nodes that are crashing or running very slowly. I would check the roslaunch output to make sure nothing is crashing, and I would check top to see if any of your nodes are using a lot of memory or CPU cycles.

edit flag offensive delete link more


No nodes are crashing. In roslaunch there is only the error about the Trajectory Server. Here is the htop output. Can, in general, hector_slam be run from a ARMboard ?

Pilif gravatar image Pilif  ( 2014-10-29 03:22:48 -0500 )edit

ARM cpus tend to be slower than their x86 counterparts. That said, it looks like you're using all of your CPU cycles. Given that your static transform publishers are using a combined total of 110% of one core, you may want to consider reducing the static transform rate.

ahendrix gravatar image ahendrix  ( 2014-10-29 03:38:53 -0500 )edit

You may also want to consider switching to the robot_state_publisher , which uses a single node for publishing transforms and future-dates them, which can prevent transform latency problems.

ahendrix gravatar image ahendrix  ( 2014-10-29 03:43:35 -0500 )edit

@ahendrix Thank you will definitely try robot_state_publisher.

Pilif gravatar image Pilif  ( 2014-11-03 03:24:37 -0500 )edit

Question Tools

1 follower


Asked: 2014-10-28 11:33:34 -0500

Seen: 409 times

Last updated: Oct 28 '14