Is there something wrong with this laser setup?
I'm trying to use gmapping in gazebo using this tutorial but I'm getting an error for my local and global costmaps saying "no map received" and "no transform from [] to [map]."
When I run amcl in gazebo, however, I have no issues with the costmap generations and everything works flawlessly. I've seen a lot of other people having issues with "upside down" lasers when using gmapping in gazebo and I am wondering if I am having a similar issue.
When I run gmappingdemo.launch from the turtlebotgazebo package, I get this output on terminal:
[ INFO ] : Laser is mounted upwards.
Laser Pose= -0.0866309 0.481637 -0.00628993
Is having a negative z component for the laser position an issue?
EDIT:
Here is my view_frames image:
Here is my roswtf output when I'm in the turtlebot_gazebo directory:
Loaded plugin tf.tfwtf
Package: turtlebot_gazebo
WARN, found multiple boost versions '[(1, 54, 0, '/usr', '/usr/include', True, True), (1, 60, 0, '/usr/local', '/usr/local/include', True, True)]', using latestWARN, found multiple boost versions '[(1, 54, 0, '/usr', '/usr/include', True, True), (1, 60, 0, '/usr/local', '/usr/local/include', True, True)]', using latestWARN, found multiple boost versions '[(1, 54, 0, '/usr', '/usr/include', True, True), (1, 60, 0, '/usr/local', '/usr/local/include', True, True)]', using latestWARN, found multiple boost versions '[(1, 54, 0, '/usr', '/usr/include', True, True), (1, 60, 0, '/usr/local', '/usr/local/include', True, True)]', using latestWARN, found multiple boost versions '[(1, 54, 0, '/usr', '/usr/include', True, True), (1, 60, 0, '/usr/local', '/usr/local/include', True, True)]', using latestWARN, found multiple boost versions '[(1, 54, 0, '/usr', '/usr/include', True, True), (1, 60, 0, '/usr/local', '/usr/local/include', True, True)]', using latest================================================================================
Static checks summary:
No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete
Online checks summary:
Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING The following node subscriptions are unconnected:
* /mobile_base_nodelet_manager:
* /cmd_vel_mux/input/safety_controller
* /mobile_base/sensors/core
* /cmd_vel_mux/input/navi
* /cmd_vel_mux/input/teleop
* /gazebo:
* /gazebo/set_link_state
* /mobile_base/commands/reset_odometry
* /gazebo/set_model_state
* /mobile_base/commands/motor_power
* /rviz:
* /move_base/global_costmap/costmap_updates
* /move_base/local_costmap/costmap
* /move_base/local_costmap/costmap_updates
* /move_base/NavfnROS/plan
* /particlecloud
* /map_updates
* /move_base/DWAPlannerROS/cost_cloud
* /move_base/DWAPlannerROS/global_plan
* /move_base/DWAPlannerROS/local_plan
* /move_base/DWAPlannerROS/trajectory_cloud
* /move_base/global_costmap/costmap
WARNING These nodes have died:
* spawn_turtlebot_model-3
Exception in thread /clock (most likely raised during interpreter shutdown):
Traceback (most recent call last):
File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
File "/usr/lib/python2.7/threading.py", line 763, in run
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_pubsub.py", line 183, in robust_connect_subscriber
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 792, in receive_loop
<type 'exceptions.TypeError'>: 'NoneType' object is not callable
And as an added bonus, here is my rqt_graph:
Asked by pgigioli on 2016-03-21 00:13:21 UTC
Comments
Are you publishing odometry ? Can you edit your post to add the image generated by
rosrun tf view_frames
androswtf
?Asked by al-dev on 2016-03-21 19:58:49 UTC
I have added my view_frames, roswtf, and rqt graph output. You can see from my rqt graph that nothing is subscribed to the /map topic. The costmaps should be subscribed and this should happen automatically from the gmapping_demo but I'm not sure why it doesn't work. Thanks!
Asked by pgigioli on 2016-03-21 21:29:30 UTC
Can you visualize the /map topic via rviz? Also, check the frame_id of the map topic by doing
rostopic echo /map | grep frame_id
Asked by DavidN on 2016-03-22 06:16:54 UTC
I can visualize the /map topic on rviz. It's only the global and local costmaps that I can't visualize. Also, the frame_id is "map".
Asked by pgigioli on 2016-03-22 09:06:33 UTC
I think this might be an issue with my turtlebot_navigation parameters because this used to work just fine. I messed with some of the parameters because I was trying to do autonomous gmapping and exploration. Any ideas?
Asked by pgigioli on 2016-03-22 09:07:37 UTC