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Turtlebot Gmapping with RPLIDAR encounters errors

asked 2016-11-05 08:55:06 -0600

schrottulk gravatar image

Hi, i know there were serveral questions about this error, but they are all about the kinect connected to the turtlebot..

I have a RPLIDAR A1 connected to the turtlebot and want to run gmapping slam algorithm. I dont have a kinect connected or any other sensors. I have Ubuntu 14.04 and ROS Indigo installed on a Intel NUC build on the turtlebot. I started this 3 commands in different terminals and a teleop command to start the Lidar scan, gmapping and RVIZ

roslaunch turtlebot_le2i rplidar_minimal.launch

roslaunch turtlebot_navigation gmapping_demo.launch

roslaunch turtlebot_rviz_launchers view_navigation.launch

It works fine, i can see the map being built in RVIZ but i get this errors in the gmapping terminal:

No matching device found.... waiting for devices. Reason: std::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-indigo-openni2-camera-0.2.7/src/openni2_driver.cpp @ 631 : Invalid device number 1, there are 0 devices connected.

Has anyone an idea? Any help would be appreciated!

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answered 2016-11-16 12:58:55 -0600

schrottulk gravatar image

I figured it out on myself:

gmapping_demo.launch includes a 3dsensor.launch file, which starts openni and this does not find any connected kinect (because there is no connected..).

So i just have to remove this lines from gmapping_demo.launch

  <!-- 3D sensor -->
  <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/>  <!-- r200, kinect, asus_xtion_pro -->
  <include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
    <arg name="rgb_processing" value="false" />
    <arg name="depth_registration" value="false" />
    <arg name="depth_processing" value="false" />

    <!-- We must specify an absolute topic name because if not it will be prefixed by "$(arg camera)".
         Probably is a bug in the nodelet manager: --> 
    <arg name="scan_topic" value="/scan" />
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Asked: 2016-11-05 08:52:58 -0600

Seen: 750 times

Last updated: Nov 16 '16