turtlebot3 simulation cartographer sensor_to_tracking fatal [closed]

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

xinxinxin gravatar image


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

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


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.

xinxinxin gravatar image xinxinxin  ( 2020-04-02 15:07:24 -0500 )edit