Is there something wrong with this laser setup?

asked 2016-03-21 00:13:21 -0600

pgigioli gravatar image

updated 2016-10-24 09:03:55 -0600

ngrennan gravatar image

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 gmapping_demo.launch from the turtlebot_gazebo 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:

view_frames

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 ... (more)

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Comments

Are you publishing odometry ? Can you edit your post to add the image generated by rosrun tf view_frames and roswtf ?

al-dev gravatar imageal-dev ( 2016-03-21 19:58:49 -0600 )edit

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!

pgigioli gravatar imagepgigioli ( 2016-03-21 21:29:30 -0600 )edit

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

DavidN gravatar imageDavidN ( 2016-03-22 06:16:54 -0600 )edit

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".

pgigioli gravatar imagepgigioli ( 2016-03-22 09:06:33 -0600 )edit

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?

pgigioli gravatar imagepgigioli ( 2016-03-22 09:07:37 -0600 )edit