Pinoneer slam mapping issue

asked 2017-12-22 08:41:26 -0500

sisko gravatar image

updated 2017-12-25 02:05:45 -0500

I am following this tutorial in my attempts to learn about autonomous navigation.

When run roslaunch turtlebot_gazebo gmapping_demo.launch and all the other nodes necessary to begin mapping the default playground world, I find the map that is generated is not as "smooth" as the tutorial illustrates, the obstacles do not seem to be accounted for and my robot just does not move when I attempt to use the map for navigation.

The image below is a screenshot of my most recent mapping attempt:

image description

Notice how RVIZ doesn't show the obstacle nearest to the pioneer robot. Compare mine to the following image from the tutorial:

image description

And when navigating, the robot in RVIZ tends to "jump" around.

I don't know what's wrong. Can anyone help, please?


A step I missed earlier: According to the tutorial, the local and global maps topics need to be set to /map which I've now done but I get the error illustrated in the image below:

image description

However, the tutorial says to select /map from the dropdown list but it isn't an option. However, it does allow new values to be typed into it so I provided /map as the value as per the instructions.


The error reads as follows:

Error subscribing: Tried to subscribe to a topic with the same name but different md5sum as a topic that was already subscribed [nav_msgs/Path/6227e2b7e9cce15051f669a5e197bbf7 vs. nav_msgs/OccupancyGrid/3381f2d731d4076ec5c71b0759edbe4e]

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Can you copy and paste the error message from RViz? The image doesn't show the entire error.

jayess gravatar image jayess  ( 2017-12-23 14:42:12 -0500 )edit

@jayess: I have put the full error at the end of my original question.

sisko gravatar image sisko  ( 2017-12-25 02:02:07 -0500 )edit

If you're moving too fast you'll get bad maps such as the ones you posted. Try slowing down, especially while turning.

jayess gravatar image jayess  ( 2017-12-25 18:39:28 -0500 )edit
jayess gravatar image jayess  ( 2017-12-25 18:41:09 -0500 )edit

@jayess: The trouble is the turtlebot barely seems to respond to most of the controls. It's very slow/sluggish as is. So, it's pretty slow already. Could working on OSX host & Ubuntu guest via Parallels have anything to do with these issues?

sisko gravatar image sisko  ( 2017-12-26 04:38:50 -0500 )edit

Perhaps. Do you have access to a computer that has Ubuntu installed on it (not virtualized)?

jayess gravatar image jayess  ( 2017-12-26 10:41:25 -0500 )edit

No, unfortunately I don't. Do you recommend that as a way forward? If so, how best to create an Ubuntu operating system computer?

sisko gravatar image sisko  ( 2017-12-26 12:21:26 -0500 )edit