Cannot determine map extends in hector_mapping and hector_geotiff
Hello,
I'm trying making map with hectorslam and Hokuyo LRF modifying the tutorial. I can see map developing on rviz (/scan frame on Fixed Frame /map). But when I publish 'rostopic pub syscommand stdmsgs/String "savegeotiff"', I cannot get any maps with error;
[ INFO] [1438081626.473636531]: HectorSM sysMsgCallback, msg contents: savegeotiff
[ INFO] [1438081626.475337758]: HectorSM Map service called
[ INFO] [1438081626.492065364]: GeotiffNode: Map service called successfully
[ INFO] [1438081626.499347522]: Cannot determine map extends!
[ INFO] [1438081626.499403181]: Couldn't set map transform
I cannot find out why this error occur though I'm trying to understand the source. I'd appreciate any help. Thank you.
This is full message on the console
[ INFO] [1438081500.856869592]: Successfully initialized hector_geotiff MapWr
iter plugin TrajectoryMapWriter.
[ INFO] [1438081500.856948086]: Geotiff node started
[ INFO] [1438081573.927581535]: GeotiffNode: Map service called successfully
[ INFO] [1438081573.934819309]: Cannot determine map extends!
[ INFO] [1438081573.934850665]: Couldn't set map transform
[ INFO] [1438081500.666433896]: Waiting for tf transform data between frames
/map and scanmatcher_frame to become available
[ INFO] [1438081510.667246287]: Finished waiting for tf, waited 10.000887 sec
onds
HectorSM map lvl 0: cellLength: 0.05 res x:2048 res y: 2048
HectorSM map lvl 1: cellLength: 0.1 res x:1024 res y: 1024
[ INFO] [1438081500.724864802]: HectorSM p_base_frame_: base_frame
[ INFO] [1438081500.724987282]: HectorSM p_map_frame_: map
[ INFO] [1438081500.725028485]: HectorSM p_odom_frame_: base_frame
[ INFO] [1438081500.725066578]: HectorSM p_scan_topic_: scan
[ INFO] [1438081500.725102459]: HectorSM p_use_tf_scan_transformation_: true
[ INFO] [1438081500.725137857]: HectorSM p_pub_map_odom_transform_: true
[ INFO] [1438081500.725173444]: HectorSM p_scan_subscriber_queue_size_: 5
[ INFO] [1438081500.725213903]: HectorSM p_map_pub_period_: 2.000000
[ INFO] [1438081500.725251141]: HectorSM p_update_factor_free_: 0.400000
robog@Ubuntu14LTS:~$ roslaunch hector_slam_launch tutorial_imadu.launch
... logging to /home/robog/.ros/log/ef628d60-350d-11e5-adf9-002618b201c9/roslaunch-Ubuntu14LTS-5286.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://Ubuntu14LTS:39435/
SUMMARY
========
PARAMETERS
* /hector_geotiff_node/draw_background_checkerboard: True
* /hector_geotiff_node/draw_free_space_grid: True
* /hector_geotiff_node/geotiff_save_period: 0.0
* /hector_geotiff_node/map_file_base_name: hector_slam_map
* /hector_geotiff_node/map_file_path: /opt/ros/indigo/s...
* /hector_geotiff_node/plugins: hector_geotiff_pl...
* /hector_mapping/advertise_map_service: True
* /hector_mapping/base_frame: base_frame
* /hector_mapping/laser_z_max_value: 1.0
* /hector_mapping/laser_z_min_value: -1.0
* /hector_mapping/map_frame: map
* /hector_mapping/map_multi_res_levels: 2
* /hector_mapping/map_resolution: 0.05
* /hector_mapping/map_size: 2048
* /hector_mapping/map_start_x: 0.5
* /hector_mapping/map_start_y: 0.5
* /hector_mapping/map_update_angle_thresh: 0.06
* /hector_mapping/map_update_distance_thresh: 0.4
* /hector_mapping/odom_frame: base_frame
* /hector_mapping/pub_map_odom_transform: True
* /hector_mapping/scan_subscriber_queue_size: 5
* /hector_mapping/scan_topic: scan
* /hector_mapping/tf_map_scanmatch_transform_frame_name: scanmatcher_frame
* /hector_mapping/update_factor_free: 0.4
* /hector_mapping/update_factor_occupied: 0.9
* /hector_mapping/use_tf_pose_start_estimate: False
* /hector_mapping/use_tf_scan_transformation: True
* /hector_trajectory_server/source_frame_name: scanmatcher_frame
* /hector_trajectory_server/target_frame_name: /map
* /hector_trajectory_server/trajectory_publish_rate: 0.25
* /hector_trajectory_server/trajectory_update_rate: 4.0
* /rosdistro: indigo
* /rosversion: 1.11.13
* /use_sim_time: True
NODES
/
hector_geotiff_node (hector_geotiff/geotiff_node)
hector_mapping (hector_mapping/hector_mapping)
hector_trajectory_server (hector_trajectory_server/hector_trajectory_server)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[hector_mapping-1]: started with pid [5304]
HectorSM map lvl 0: cellLength: 0.05 res x:2048 res y: 2048
process[hector_trajectory_server-2]: started with pid [5387]
[ INFO] [1438081607.035704603]: Waiting for tf transform data between frames /map and scanmatcher_frame to become available
HectorSM map lvl 1: cellLength: 0.1 res x:1024 res y: 1024
process[hector_geotiff_node-3]: started with pid [5426]
[ INFO] [1438081607.112568462]: HectorSM p_base_frame_: base_frame
[ INFO] [1438081607.112830898]: HectorSM p_map_frame_: map
[ INFO] [1438081607.112944446]: HectorSM p_odom_frame_: base_frame
[ INFO] [1438081607.113050434]: HectorSM p_scan_topic_: scan
[ INFO] [1438081607.113153735]: HectorSM p_use_tf_scan_transformation_: true
[ INFO] [1438081607.113256404]: HectorSM p_pub_map_odom_transform_: true
[ INFO] [1438081607.113360417]: HectorSM p_scan_subscriber_queue_size_: 5
[ INFO] [1438081607.113468513]: HectorSM p_map_pub_period_: 2.000000
[ INFO] [1438081607.113572787]: HectorSM p_update_factor_free_: 0.400000
[ INFO] [1438081607.113677064]: HectorSM p_update_factor_occupied_: 0.900000
[ INFO] [1438081607.113781248]: HectorSM p_map_update_distance_threshold_: 0.400000
[ INFO] [1438081607.113885858]: HectorSM p_map_update_angle_threshold_: 0.060000
[ INFO] [1438081607.113993324]: HectorSM p_laser_z_min_value_: -1.000000
[ INFO] [1438081607.114096815]: HectorSM p_laser_z_max_value_: 1.000000
[ INFO] [1438081607.255655954]: Successfully initialized hector_geotiff MapWriter plugin TrajectoryMapWriter.
[ INFO] [1438081607.255743990]: Geotiff node started
[ INFO] [1438081618.036565778]: Finished waiting for tf, waited 11.001046 seconds
[ INFO] [1438081626.473636531]: HectorSM sysMsgCallback, msg contents: savegeotiff
[ INFO] [1438081626.475337758]: HectorSM Map service called
[ INFO] [1438081626.492065364]: GeotiffNode: Map service called successfully
[ INFO] [1438081626.499347522]: Cannot determine map extends!
[ INFO] [1438081626.499403181]: Couldn't set map transform
^C[hector_geotiff_node-3] killing on exit
[hector_trajectory_server-2] killing on exit
[hector_mapping-1] killing on exit
Warning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
at line 94 in /tmp/buildd/ros-indigo-class-loader-0.3.1-0trusty-20150424-0409/src/class_loader.cpp
shutting down processing monitor...
... shutting down processing monitor complete
done
Asked by imadu on 2015-07-28 06:17:17 UTC
Answers
I found what was wrong. It was not problem of configuration of hector_mapping nor hector_geotiff.
I had forgotten to change param /use_sim_time when I changed sesnor input from rosbag to an actual URG. After I changed /use_sim_time to false, it worked well.
I'm sorry for my simple mistake.
I wrote that I can see map developing on rviz (/scan frame on Fixed Frame /map). But actually I couldn't see /map topic on rviz before parameter correction. (I checked /scan and misunderstood that was /map)
Thank you for your attension.
Asked by imadu on 2015-08-02 04:45:03 UTC
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