[CARTOGRAPHER] "Submaps: For frame [map]: Frame [map] does not exist"
Hi, I've been trying to set up Cartographer on ROS. I'm going to give as much details as I can. I want to run cartographer on my own bag.
The issue: When I launch cartographer, I get nothing on the Rviz display, it gives me a error (screenshot: https://imgur.com/a/tq3G3jR)
When I run rqt_graph : https://imgur.com/a/ShktkBL
Here's my rqttftree: https://imgur.com/a/ReV7MYc
I launch cartographer using this command:
roslaunch cartographer_ros demo_my_robot.launch bag_filename:=/home/hamza/Documents/bags_ouster/2019-05-10-11-00-03.bag
Here's my .launch file :
<launch>
<param name="/use_sim_time" value="true" />
<include file="$(find cartographer_ros)/launch/backpack_3d.launch" />
<remap from="/os1_cloud_node/points" to="/points2"/>
<node pkg="tf" type="static_transform_publisher" name="tf_pub" args="0 0 0 0 0 0 /base_link /os1_sensor 100"/>
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz" />
<node name="playbag" pkg="rosbag" type="play"
args="--clock $(arg bag_filename)" />
</launch>
A pice of my robot.lua script:
map_frame = "map",
tracking_frame = "base_link",
published_frame = "base_link",
odom_frame = "odom",
provide_odom_frame = true,
use_odometry = false,
I've been trying to figure out the problem for so long, but with no clue of its source, it's tough. Anyone can help please ?
If you need any additionnal infos, feel free to ask, Im active all the time.
Asked by hachbani on 2019-06-12 08:48:55 UTC
Answers
what is the header or frame_id of your bag file? ensure if corresponds to tracking_frame = , published_frame = ,
Asked by fyi on 2019-06-12 09:05:18 UTC
Comments
Hi, Thanks for your response. As a ROS newbie, I don't know how to get to know the header of frame_id of my bag file, can you explain to me please ?
Asked by hachbani on 2019-06-12 09:10:53 UTC
do $ rostopic list after you've launched your demo_my_robot.launch file have a look for what is being published i.e /laser , horizontal_laser_2d.... the once you've found out where your info is coming from do rostopic echo /laser (if its laser or rostopic echo /horizontal_laser_2d if its horizontal_laser_2d)
then soon after do ctrl+c to cancel analyse the output for frame_id in the data published
Asked by fyi on 2019-06-12 09:19:52 UTC
The information (Pointclouds) are coming from /points2. Rostopic echo /points2 is giving a lot of points coordinates but no frame_id infos. What is it supposed to look like ?
THnaks
Asked by hachbani on 2019-06-12 09:36:12 UTC
okay what does it read in terminal when you launch your launch file? also noticed your fixed frame in rviz global options should be set to /map
Asked by fyi on 2019-06-12 10:22:28 UTC
Here's the result of $ rostopic echo /points2 : https://pastebin.com/MybV1R6H Do you know how to make sure that the topic in question is indeed the PointCloud topic ?
When I set the fixed frame to /map, I get a lot of errors in Rviz, I looked for it online and I did understood that It should be base_link, I don't know why though.
Thanks for your time, really appreciate it
Asked by hachbani on 2019-06-12 16:03:23 UTC
hi @fyi, I just figred out by accident the frame_id of my PointCloud topic. it's os1_lidar. So I should make tracking_frame = os1_lidar and published_frame=os1_lidar as well ?
Asked by hachbani on 2019-06-14 07:14:47 UTC
yes did it work?
Asked by fyi on 2019-06-14 10:04:15 UTC
Please post your updated .lua file and launch file
Asked by fyi on 2019-06-14 10:05:54 UTC
I did change trancking and published frame to os_lidar, nothing changed. Did also change the fixed frame on Rviz to os1_lidar and nothing changed neither.
Asked by hachbani on 2019-06-17 08:22:42 UTC
Comments