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geotiff trajectory

asked 2018-11-06 23:42:11 -0600

TintinQuarantino gravatar image

Hey guys

I've made a ground robot running hector slam on ROS Kinetic. I've got the hector saving geotiff files to be sent to a remote desktop. The mapping is working fine but the robot's trajectory is staying at the original position, strangely the path is drawing with the map fine as seen below (my robot doesn't like driving straight). I CAN see the the trajectory in Rviz.

image description

When i execute

rosservice call trajectory

I get the error message "ERROR: Unable to load type [hector_nav_msgs/GetRobotTrajectory]. Have you typed 'make' in [hector_nav_msgs]?"

geotiff_mapper.launch

    <?xml version="1.0"?>

<launch>
  <arg name="trajectory_source_frame_name" default="/base_link"/>
  <arg name="trajectory_update_rate" default="4"/>
  <arg name="trajectory_publish_rate" default="0.25"/>
  <arg name="map_file_path" default="(find hector_geotiff)/maps"/>
  <arg name="map_file_base_name" default="hector_slam_map"/>

  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
    <param name="target_frame_name" type="string" value="/map" />
    <param name="source_frame_name" type="string" value="$(arg trajectory_source_frame_name)" />
    <param name="trajectory_update_rate" type="double" value="$(arg trajectory_update_rate)" />
    <param name="trajectory_publish_rate" type="double" value="$(arg trajectory_publish_rate)" />
  </node>

      <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
        <remap from="map" to="/dynamic_map" />
        <param name="map_file_path" type="string" value="$(arg map_file_path)" />
        <param name="map_file_base_name" type="string" value="$(arg map_file_base_name)" />
        <param name="geotiff_save_period" type="double" value="1" />
        <param name="draw_background_checkerboard" type="bool" value="true" />
        <param name="draw_free_space_grid" type="bool" value="false" />
        <param name="plugins" type="string" value="hector_geotiff_plugins/TrajectoryMapWriter" />
      </node>

    </launch>

Any ideas what may be wrong? Thanks for your time.

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answered 2018-11-08 03:08:07 -0600

Note the yellow arrow denotes the starting point of the robot. The current pose of the robot doesn't have a dedicated visualization per default (apart from the trajectory visualization ending somewhere). Historically, the geotiff plugin originated from RoboCup Rescue rules requirements and this was what was requested there.

The fact that the geotiff writer wrote a correct trajectory (which calls the trajectory service behind the scenes) suggests that the trajectory service works. My guess is that the workspace you have sourced on your remote computer (from which you called the service) does not contain hector_nav_msgs. You can probably fix this by simply running

sudo apt-get install ros-kinetic-hector-nav-msgs
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Unfortunately this didn't work however it did install as if it wasn't there. My catkinmake process crashed at the point hector_nav_msgs was installing and I simply rebooted and started it again. I have a feeling some files didn't compile properly but I can't stop it crashing at around 85%

TintinQuarantino gravatar imageTintinQuarantino ( 2018-11-13 21:05:17 -0600 )edit

Also I am not calling the service from the remote PC. I have a python code sending the saved geotiff files to the PC, all of the ROS stuff is done on the Pi.

TintinQuarantino gravatar imageTintinQuarantino ( 2018-11-13 21:29:16 -0600 )edit

Do you mean a compile error with "crashing at around 85%"? The certainly sounds like it could cause issues.

Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2018-11-16 03:23:22 -0600 )edit

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Asked: 2018-11-06 23:42:11 -0600

Seen: 136 times

Last updated: Nov 08 '18