turtlebot3 simulation cartographer sensor_to_tracking fatal [closed]

asked 2020-02-13 17:55:49 -0500

sinsinsinsin gravatar image

Hi

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

roslaunch turtlebot3_gazebo turtlebot3_world.launch

then run cartographer slam with:

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer

the terminal shows a FATAL F0213 23:40:09.788717 51790 sensor_bridge.cc:126] Check failed: sensor_to_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

edit retag flag offensive reopen merge delete

Closed for the following reason duplicate question by sinsinsinsin
close date 2020-02-13 17:57:44.538291

Comments

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

dhaour9x gravatar image dhaour9x  ( 2020-03-31 17:15:05 -0500 )edit

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.

sinsinsinsin gravatar image sinsinsinsin  ( 2020-04-02 15:07:24 -0500 )edit
add a comment