turtlebot3 simulation cartographer sensor_to_tracking fatal

I was following the tutorial of turtlebot3. Run the command to start a simulation environment.

roslaunch turtlebot3gazebo turtlebot3world.launch

then run cartographer slam with:

roslaunch turtlebot3slam turtlebot3slam.launch slam_methods:=cartographer

the terminal shows a FATAL F0213 23:40:09.788717 51790 sensorbridge.cc:126] Check failed: sensorto_tracking->translation().norm() < 1e-5 The IMU frame must be colocated with the tracking frame. Transforming linear acceleration into the tracking frame will otherwise be imprecise.

[FATAL] [1581637209.804541068, 47.660000000]: F0213 23:40:09.000000 51790 sensorbridge.cc:126] Check failed: sensorto_tracking->translation().norm() < 1e-5 The IMU frame must be colocated with the tracking frame. Transforming linear acceleration into the tracking frame will otherwise be imprecise.

Any ideas about that? Thanks

Asked by sinsinsinsin on 2020-02-13 18:55:49 UTC

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I have the same problem. did you get any solution to solve it.

Asked by dhaour9x on 2020-03-31 17:15:05 UTC

Hi, If I remember this correctly. The problem is gazebo parameter setting. If you check the launch file / lua file, you will see some ROS frame ID setting. And, there was a comment said "if you are using Gazebo, change the frame_id from blablabla to blablabla". Hope this will help.

Asked by sinsinsinsin on 2020-04-02 15:07:24 UTC

turtlebot3 simulation cartographer sensor_to_tracking fatal

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