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hector slam on ARM

asked 2014-10-28 11:34:37 -0600

Pilif gravatar image

updated 2014-10-28 13:55:11 -0600

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?

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Please format your launch file so that it is readable.

ahendrix gravatar imageahendrix ( 2014-10-28 12:31:59 -0600 )edit

sorry, should be fixed now

Pilif gravatar imagePilif ( 2014-10-28 13:21:18 -0600 )edit

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

bvbdort gravatar imagebvbdort ( 2014-10-28 13:29:44 -0600 )edit

sure - frames and graph

Pilif gravatar imagePilif ( 2014-10-29 03:15:48 -0600 )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 imagebvbdort ( 2014-10-29 04:07:48 -0600 )edit

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

Pilif gravatar imagePilif ( 2014-11-03 03:23:10 -0600 )edit

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answered 2014-10-28 14:05:34 -0600

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.

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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 imagePilif ( 2014-10-29 03:22:48 -0600 )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 imageahendrix ( 2014-10-29 03:38:53 -0600 )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 imageahendrix ( 2014-10-29 03:43:35 -0600 )edit

@ahendrix Thank you will definitely try robot_state_publisher.

Pilif gravatar imagePilif ( 2014-11-03 03:24:37 -0600 )edit

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Asked: 2014-10-28 11:33:34 -0600

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Last updated: Oct 28 '14