Hector_slam not working with my bag file

asked 2016-05-14 20:30:40 -0600

Shantnu
86 ●6 ●9 ●13

updated 2016-05-22 02:17:38 -0600

I am trying to do hector slam using lidar SICK LMS291-s05 , but I am unable to get map with the bag file generated by me. I can get the map with the bag file that comes with the hector slam library. Please note that I don't have any odometry data, but only LIDAR scan data. This is the procedure that I followed:

A) Generating the bag file containing laser scan data using tutorial http://wiki.ros.org/sicktoolbox_wrapp...:

$ sudo chmod a+rw /dev/ttyUSB0

$ ls -l /dev/ttyUSB0

$roscore

$rosrun sicktoolbox_wrapper sicklms _port:=/dev/ttyUSB0 _baud:=38400

$ rosbag record scan

(The bag file gets generated by the name 2016-05-10-05-20-45.bag)

B) Setting parameters for hector slam as explained in the tutorial http://wiki.ros.org/hector_slam/Tutor...

To do this, I copy pasted the following from the tutorial into the /home/akashan/catkin_ws/src/hector_slam/hector_mapping/launch/mapping_default.launch file.

<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_frame" />
<param name="odom_frame" value="base_frame" />

(I am not sure whether I did the part B correctly. Please someone verify this whether I have copy pasted in the right launch file or not)

C) Running Hector SLAM in RVIZ as explained in the tutorial hector SLAM tutorial http://wiki.ros.org/hector_slam/Tutor...

1) $ rosrun tf static_transform_publisher 0 0 0 0 0 0 map scanmatcher_frame 10 (I did this becuase I was getting the warning "No transform between frames /map and scanmatcher_frame available after 20.002338 seconds of waiting. This warning only prints once."). Please note that the warning got removed.

2) rosrun tf static_transform_publisher 0 0 0 0 0 0 base_footprint laser 10 (I did this becuase I was getting the error "lookupTransform base_footprint to laser timed out. Could not transform laser scan into base_frame." ). Please note that the error is not getting removed after doing this.

3) $ roslaunch hector_slam_launch tutorial.launch

4) $ rosbag play 2016-05-10-05-20-45.bag --clock

Please someone help me.

========================================================================================= Edit: The above was my question. Now, I have been able to run hector slam properly. This is what I did to get my hector slam working:

1) Played the bag file that comes with the hector_slam package (Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag). My hector slam used to work with this file, but not with my own bag file since the bag file I was generating didn't have any tf.

2) called view_frames to view what frames does this file publish. (sorry I can't post this pdf since it always give error that 5 points are required).

3) Based on the generated frames.pdf file, I added 6 static_transform_publisher nodes in my mapping_default.launch. The following transforms were added.

node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 20"

node pkg="tf" type="static_transform_publisher" name="map_scanmatcher_broadcaster" args="0 0 0 0 0 0 map scanmatcher_frame 25"

node pkg="tf" type="static_transform_publisher" name="nav_baselink_broadcaster" args="0 0 0 0 0 0 nav base_link 13"

node pkg="tf ... (more)

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answered 2017-04-28 00:33:49 -0600

Rodrigo Sarmento
11

Please Shantnu, could you help me?

When I try to generate a map with my bag using hector_slam i get this message "[ INFO] [1493355975.573671943, 1492808791.921291071]:LookupTransform base_link to /camera_depth_frame timed out. Could not transform laser scan into base_frame." And I don't know if thats the reason why i have this problem "SearchDir angle change too large".

Here is the info of my bag

path: 20170421turtle1.bag

version: 2.0

duration: 4:21s (261s)

start: Apr 21 2017 18:06:31.10 (1492808791.10)

end: Apr 21 2017 18:10:52.82 (1492809052.82)

size: 1.3 GB

messages: 24699

compression: none [1254/1254 chunks]

types: sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]

sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369]

tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]

topics:
/camera/depth_registered/image 536 msgs : sensor_msgs/Image

/scan 7822 msgs : sensor_msgs/LaserScan

/tf 15624 msgs : tf2_msgs/TFMessage
(2 connections)

camera/rgb/image_color 717 msgs : sensor_msgs/Image

TF VIEW FRAMES

( https://drive.google.com/file/d/0BzXK... )

I'm using a turtlebot with kinect

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answered 2016-05-15 03:53:04 -0600

spmaniato

1788 ●40 ●56 ●69 http://www.spmaniato.me/

updated 2016-05-15 03:55:59 -0600

My guess is that your bagfile is missing the tf messages that describe the transform between the robot's frame (base_frame ) and the LiDAR's frame (see "Required tf transforms" here: http://wiki.ros.org/hector_mapping ) It sounds like this transform is not only static but also the identity in your case. So just have a static_transform_publisher handle this base_frame to LiDAR frame identity transform.

You most definitely DON'T need that map-to-my_frame static_transform_publisher. The SLAM node is responsible for publishing the map to odom transform.

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answered 2016-05-15 19:19:01 -0600

Shantnu
86 ●6 ●9 ●13

Hi,

Thank you for your response. I tried getting the map with the update you suggested but still I am not getting the map.

You are correct that my bagfile does not have any tf messages (its because I am only using LIDAR). So, to overcome this, I tried using static_transform_publisher identity as follows in my mapping_default.launch file:

However, I am getting the error: "lookupTransform base_footprint to laser timed out. Could not transform laser scan into base_frame." in the terminal in which I am running roslaunch hector_slam_launch tutorial.launch.

Also, in my RViz I am getting the error: "No tf data. Actual error: Fixed Frame [map] does not exist."

I have removed the "rosrun tf static_transform_publisher 0.0 0.0 0.0 0 0 0 1 map my_frame 100" as suggested by you.

Please direct me what else is needed to be changed?

Regards, Shantnu Kakkar

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First of all, please don't use an answer to continue the conversation. Instead, comment below my answer and/or edit the original question. Second, where did base_footprint come from? (It shows up in your error message.) Please run everything and then do rosrun tf view_frames Then post the output

spmaniato ( 2016-05-16 08:08:31 -0600 )edit

I will take care next time. I have added two new steps in the question now (they are step 1 and step 2 in step C and I have bold them). Please tell me how should I upload the screen shot of frames.pdf. When I try to upload, it gives me the error that I need 5 points to upload. (May I mail you?).

Shantnu ( 2016-05-17 19:20:50 -0600 )edit

The base_footprint is coming because of step B that I am doing (seee my question). The tutorial asks us to do that. See tutorial option set up 2 "Use without odom frame". http://wiki.ros.org/hector_slam/Tutor...

Shantnu ( 2016-05-17 19:22:55 -0600 )edit

Hmm, still not sure why there's a base_footprint. Maybe step B didn't work properly. Or maybe you just need a static transform between base_footprint and base_frame. Remove C1 and C2. I gave you some points. Please upload the tf tree.

spmaniato ( 2016-05-18 09:08:11 -0600 )edit

If I omit points C1 and C2 and do view_frames, then I get only one message in the pdf: No TF data recieved. Could you please tell me procedure that you would follow if you do hector mapping with a bag file that has only /scan messages taken from a laser, and the laser frame and robot frame are same.

Shantnu ( 2016-05-18 20:08:01 -0600 )edit

As I said in my original answer below, you do need to run (at least) one static_transform_publisher, the transform from base_frame to laser_frame (these may not be the correct names for your setup). That's similar to C2, but for the correct base frame. Not sure I'm getting the names right.

spmaniato ( 2016-05-19 07:22:29 -0600 )edit

I have been able to resolve my problems. See my edit in question above. Thank you for your help.

Shantnu ( 2016-05-22 02:16:14 -0600 )edit

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