Failed to load nodelet '/ekf_se` of type `RobotLocalization/EkfNodelet` to manager `/mobile_base_nodelet_manager'

asked 2020-05-05 04:38:17 -0500

willzoe gravatar image

The robot I use is turtlebot2, and the visual sensor is ZED stereo camera.

I want to use the ekf_localization_node in the robot_localization package to fuse the odom published by stereo_odometry of rtabmap and the odom of turtlebot.

When I want to load RobotLocalization/EkfNodelet to manager /mobile_base_nodelet_manager, the terminal prompts the following error:

... logging to /home/nvidia/.ros/log/28fd7ac0-8ea6-11ea-84e8-00044b8ceeae/roslaunch-tegra-ubuntu-27140.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.140:39819/

SUMMARY
========

PARAMETERS
 * /ekf_se/acceleration_gains: [0.8, 0.0, 0.0, 0...
 * /ekf_se/acceleration_limits: [1.3, 0.0, 0.0, 0...
 * /ekf_se/base_link_frame: base_footprint
 * /ekf_se/control_config: [True, False, Fal...
 * /ekf_se/control_timeout: 0.2
 * /ekf_se/debug: False
 * /ekf_se/debug_out_file: /path/to/debug/fi...
 * /ekf_se/deceleration_gains: [1.0, 0.0, 0.0, 0...
 * /ekf_se/deceleration_limits: [1.3, 0.0, 0.0, 0...
 * /ekf_se/frequency: 50
 * /ekf_se/imu0: example/imu
 * /ekf_se/imu0_config: [False, False, Fa...
 * /ekf_se/imu0_differential: False
 * /ekf_se/imu0_linear_acceleration_rejection_threshold: 0.8
 * /ekf_se/imu0_nodelay: False
 * /ekf_se/imu0_pose_rejection_threshold: 0.8
 * /ekf_se/imu0_queue_size: 5
 * /ekf_se/imu0_relative: True
 * /ekf_se/imu0_remove_gravitational_acceleration: True
 * /ekf_se/imu0_twist_rejection_threshold: 0.8
 * /ekf_se/initial_estimate_covariance: ['1e-9', 0, 0, 0,...
 * /ekf_se/map_frame: map
 * /ekf_se/odom0: /rtabmap/odom
 * /ekf_se/odom0_config: [True, True, Fals...
 * /ekf_se/odom0_differential: False
 * /ekf_se/odom0_nodelay: False
 * /ekf_se/odom0_pose_rejection_threshold: 5
 * /ekf_se/odom0_queue_size: 5
 * /ekf_se/odom0_relative: True
 * /ekf_se/odom0_twist_rejection_threshold: 1
 * /ekf_se/odom1: /mobile_base/odom
 * /ekf_se/odom1_config: [True, True, Fals...
 * /ekf_se/odom1_differential: False
 * /ekf_se/odom1_nodelay: False
 * /ekf_se/odom1_pose_rejection_threshold: 2
 * /ekf_se/odom1_queue_size: 50
 * /ekf_se/odom1_relative: True
 * /ekf_se/odom1_twist_rejection_threshold: 0.2
 * /ekf_se/odom_frame: odom
 * /ekf_se/pose0: example/pose
 * /ekf_se/pose0_config: [True, True, Fals...
 * /ekf_se/pose0_differential: True
 * /ekf_se/pose0_nodelay: False
 * /ekf_se/pose0_queue_size: 5
 * /ekf_se/pose0_rejection_threshold: 2
 * /ekf_se/pose0_relative: False
 * /ekf_se/print_diagnostics: True
 * /ekf_se/process_noise_covariance: [0.05, 0, 0, 0, 0...
 * /ekf_se/publish_acceleration: False
 * /ekf_se/publish_tf: False
 * /ekf_se/sensor_timeout: 0.1
 * /ekf_se/stamped_control: False
 * /ekf_se/transform_time_offset: 0.0
 * /ekf_se/transform_timeout: 0.0
 * /ekf_se/twist0: example/twist
 * /ekf_se/twist0_config: [False, False, Fa...
 * /ekf_se/twist0_nodelay: False
 * /ekf_se/twist0_queue_size: 3
 * /ekf_se/twist0_rejection_threshold: 2
 * /ekf_se/two_d_mode: True
 * /ekf_se/use_control: True
 * /ekf_se/world_frame: odom
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    ekf_se (nodelet/nodelet)

ROS_MASTER_URI=http://192.168.0.140:11311

process[ekf_se-1]: started with pid [27157]
[ INFO] [1588669344.027700537]: Loading nodelet /ekf_se of type RobotLocalization/EkfNodelet to manager /mobile_base_nodelet_manager with the following remappings:
[FATAL] [1588669344.125942872]: Failed to load nodelet '/ekf_se` of type `RobotLocalization/EkfNodelet` to manager `/mobile_base_nodelet_manager'
[ekf_se-1] process has died [pid 27157, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load RobotLocalization/EkfNodelet /mobile_base_nodelet_manager __name:=ekf_se __log:=/home/nvidia/.ros/log/28fd7ac0-8ea6-11ea-84e8-00044b8ceeae/ekf_se-1.log].
log file: /home/nvidia/.ros/log/28fd7ac0-8ea6-11ea-84e8-00044b8ceeae/ekf_se-1*.log

At the same time, the terminal output of manager /mobile_base_nodelet_manager is as follows:

[ERROR] [1588669344.125399096]: Failed to load nodelet [/ekf_se] of type [RobotLocalization/EkfNodelet] even after refreshing the cache: According to the loaded plugin descriptions the class RobotLocalization/EkfNodelet with base class type nodelet::Nodelet does not exist. Declared types are  SlamGMappingNodelet astra_camera/AstraDriverNodelet depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz ...
(more)
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Comments

Can you provide more information? Are you running from source? Binaries? Which ROS distro?

Tom Moore gravatar image Tom Moore  ( 2020-06-24 02:29:17 -0500 )edit