Error when providing Odometry to cartographer-ros

asked 2019-07-23 08:55:21 -0600

Petr_31 gravatar image

Hello developers,

I'm facing an issue while running the cartographer on my own .bag file. I saw in the documentation that I had to remap to allow the cartographer to use the topics from my recorded datas, so I edited both Lua and Launch file.

The error is : Check failed: frame_id[0] != '/' ('/' vs. '/') The frame_id /base_link_orig should not start with a /. See 1.7 in http://wiki.ros.org/tf2/Migration, it appeared when I wrote the remap from the odom topic.

The thing that I don't understand is that I didn't write anything starting by '/'

  • My lua file :

map_builder = MAP_BUILDER, trajectory_builder = TRAJECTORY_BUILDER, map_frame = "map", tracking_frame = "imu", published_frame = "base_link", odom_frame = "odom", provide_odom_frame = true, publish_frame_projected_to_2d = false, use_pose_extrapolator = true, use_odometry = true, use_nav_sat = false, use_landmarks = false, num_laser_scans = 1, num_multi_echo_laser_scans = 0, num_subdivisions_per_laser_scan = 1, num_point_clouds = 2, lookup_transform_timeout_sec = 0.2, submap_publish_period_sec = 0.3, pose_publish_period_sec = 5e-3, trajectory_publish_period_sec = 30e-3, rangefinder_sampling_ratio = 1., odometry_sampling_ratio = 1., fixed_frame_pose_sampling_ratio = 1., imu_sampling_ratio = 1., landmarks_sampling_ratio = 1.,

- My launch file :

<launch> <arg name="bag_filenames"/> <arg name="no_rviz" default="false"/> <arg name="rviz_config" default="$(find cartographer_ros)/configuration_files/demo_3d.rviz"/> <arg name="configuration_directory" default="$(find cartographer_ros)/configuration_files"/> <arg name="configuration_basenames" default="my_robot.lua"/> <arg name="urdf_filenames" default="$(find cartographer_ros)/urdf/my_robot.urdf"/> <arg name="launch_prefix" default=""/>

<remap from="PointCloud2" to="scan"/> <remap from="imu" to="imu/data"/> <remap from="odom" to="imu_odom"/>

<include file="$(find cartographer_ros)/launch/offline_node.launch"> <arg name="bag_filenames" value="$(arg bag_filenames)"/> <arg name="no_rviz" value="$(arg no_rviz)"/> <arg name="rviz_config" value="$(arg rviz_config)"/> <arg name="configuration_directory" value="$(arg configuration_directory)"/> <arg name="configuration_basenames" value="$(arg configuration_basenames)"/> <arg name="urdf_filenames" value="$(arg urdf_filenames)"/> <arg name="launch_prefix" value="$(arg launch_prefix)"/> </include> </launch>

- My urdf file <robot name="cartographer_backpack_3d"> <material name="orange"> <color rgba="1.0 0.5 0.2 1"/> </material> <material name="gray"> <color rgba="0.2 0.2 0.2 1"/> </material>

<link name="imu_link"> <visual> <origin xyz="0.0 0.0 0.0"/> <geometry> <box size="0.06 0.04 0.02"/> </geometry> <material name="orange"/> </visual> </link>

<link name="horizontal_vlp16_link"> <visual> <origin xyz="0.0 0.0 0.0"/> <geometry> <cylinder length="0.07" radius="0.05"/> </geometry> <material name="gray"/> </visual> </link>

<link name="vertical_vlp16_link"> <visual> <origin xyz="0.0 0.0 0.0"/> <geometry> <cylinder length="0.07" radius="0.05"/> </geometry> <material name="gray"/> </visual> </link>

<link name="base_link"/>

<joint name="imu_link_joint" type="fixed"> <parent link="base_link"/> <child link="imu_link"/> <origin xyz="0 0 0" rpy="3.1416 0 0"/> </joint>

<joint name="horizontal_vlp16_link_joint" type="fixed"> <parent link="base_link"/> <child link="horizontal_vlp16_link"/> <origin xyz="0.01 0. 0.19" rpy="0. -0.1745 3.1416"/> </joint>

<joint name="vertical_vlp16_link_joint" type="fixed"> <parent link="base_link"/> <child link ... (more)

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