Google Cartographer - Setup Issues
Hi All,
I'm trying to get google's cartographer up and running on my turtle-like robot. Using https://google-cartographer-ros-for-turtlebots.readthedocs.io/en/latest/ as a starting point.
I've updated demodepthcamera2d.launch & turtledepthcamera2d.lua
I have a problem with the trackingframe parameter - it was set to gyrolink (which I don't have) so I tried setting it to imumsg and baselink. Both with out success. I keep getting an error message:
W1105 11:30:18.000000 16684 tf_bridge.cc:51] "imu_msg" passed to lookupTransform argument source_frame does not exist
regardless if:
tracking_frame = "base_link"
or
tracking_frame = "imu_msg"
Does anyone have any thoughts? My graph is currently looking like:
Thanks
Mark
Asked by MarkyMark2012 on 2016-11-05 06:33:29 UTC
Answers
So adding a static transform between the IMU and the base_link seems to have solved the first issue.
<node pkg="tf" type="static_transform_publisher" name="static_transform_publisher3" args="0 0 0.3 0 0 0 1 base_link imu_msg 100"/>
Now getting:
[FATAL] [1478348520.099726403]: F1105 12:22:00.000000 17582 imu_tracker.cc:66] Check failed: (orientation_ * gravity_vector_).z() > 0. (nan vs. 0)
Asked by MarkyMark2012 on 2016-11-05 07:24:51 UTC
Comments
"imu_msg" as a frame name sounds fishy to me. Do you have an IMU on your robot or not? If you don't , you'll need to disable using IMU data in your configuration. Based on the imu_tracker error, I expect your IMU data is somehow incorrect/bogus.
Asked by damonkohler on 2016-12-01 03:21:16 UTC
Comments
As you saw in my related question - just a gyro publishing out over the IMU stream
Asked by MarkyMark2012 on 2016-12-01 06:08:48 UTC
I'm still unclear about how to fix this. So did you fix everything by just adding the static transform?
Asked by orlando24 on 2019-01-29 02:17:48 UTC
Comments