ROSonWindows "roslaunch hector_slam_launch tutorial.launch" receiving: Roslaunch got a 'The system cannot find the file specified' error

asked 2020-06-13 10:25:03 -0600

JayROS gravatar image

updated 2020-06-15 08:03:53 -0600

Hi there, I have ROSonWindows (windows 10, melodic installed). I've been working with ROS since late last year. Alot of bumps on the way, which was expected due to OS. I have the rplidar software and hector_slam software installed and built. I can start the RPLIDAR A2M8 with the frame_grabber.exe on its own to show it is working. And I can >roslaunch rplidar_ros view_rplidar.launch which opens rviz window and shows the laser scan running just fine. But, I am very new to the lidar and SLAM subject matter.

I followed a number of tutorials which basically say the same thing. Such as: RPLidar and Hector SLAM for Beginners | ROS Tutorial #8

I open 3 terminals, each going to my max_ws\devel folder and sourced.

I started roscore running.

Then, I started >roslaunch rplidar_ros rplidar.launch successfully:C:\opt\ros\melodic\x64\max_ws\devel>roslaunch rplidar_ros rplidar.launch ... logging to C:\Users\jayps.ros\log\252fac5e-ad7d-11ea-b5d2-b885849bd1ac\roslaunch-DESKTOP-ALIEN44-19444.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server


PARAMETERS * /rosdistro: melodic * /rosversion: 1.14.6 * /rplidarNode/angle_compensate: True * /rplidarNode/frame_id: laser * /rplidarNode/inverted: False * /rplidarNode/serial_baudrate: 115200 * /rplidarNode/serial_port: /COM5

NODES / rplidarNode (rplidar_ros/rplidarNode)

ROS_MASTER_URI= process[rplidarNode-1]: started with pid [7072] RPLIDAR S/N: 92DF9A87C5E392D2A5E492F8020A316C BUT...

When I get to the step: >roslaunch hector_slam_launch tutorial.launch It fails with this output (see further down with error in bold):C:\opt\ros\melodic\x64\max_ws\devel>roslaunch hector_slam_launch tutorial.launch ... logging to C:\Users\jayps.ros\log\252fac5e-ad7d-11ea-b5d2-b885849bd1ac\roslaunch-DESKTOP-ALIEN44-1904.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server


PARAMETERS * /hector_geotiff_node/draw_background_checkerboard: True * /hector_geotiff_node/draw_free_space_grid: True * /hector_geotiff_node/geotiff_save_period: 0.0 * /hector_geotiff_node/map_file_base_name: hector_slam_map * /hector_geotiff_node/map_file_path: C:/opt/ros/melodi... * /hector_geotiff_node/plugins: hector_geotiff_pl... * /hector_mapping/advertise_map_service: True * /hector_mapping/base_frame: base_link * /hector_mapping/laser_z_max_value: 1.0 * /hector_mapping/laser_z_min_value: -1.0 * /hector_mapping/map_frame: map * /hector_mapping/map_multi_res_levels: 2 * /hector_mapping/map_resolution: 0.05 * /hector_mapping/map_size: 2048 * /hector_mapping/map_start_x: 0.5 * /hector_mapping/map_start_y: 0.5 * /hector_mapping/map_update_angle_thresh: 0.06 * /hector_mapping/map_update_distance_thresh: 0.4 * /hector_mapping/odom_frame: base_link * /hector_mapping/pub_map_odom_transform: True * /hector_mapping/scan_subscriber_queue_size: 5 * /hector_mapping/scan_topic: scan * /hector_mapping/tf_map_scanmatch_transform_frame_name: scanmatcher_frame * /hector_mapping/update_factor_free: 0.4 * /hector_mapping/update_factor_occupied: 0.9 * /hector_mapping/use_tf_pose_start_estimate: False * /hector_mapping/use_tf_scan_transformation: True * /hector_trajectory_server/source_frame_name: scanmatcher_frame * /hector_trajectory_server/target_frame_name: /map * /hector_trajectory_server/trajectory_publish_rate: 0.25 * /hector_trajectory_server/trajectory_update_rate: 4.0 * /rosdistro: melodic * /rosversion: 1.14.6 * /use_sim_time: True

NODES / base_frame_to_laser (tf/static_transform_publisher) hector_geotiff_node (hector_geotiff/geotiff_node) hector_mapping (hector_mapping/hector_mapping) hector_trajectory_server (hector_trajectory_server/hector_trajectory_server) rviz (rviz/rviz) static_tf0 (tf/static_transform_publisher)

ROS_MASTER_URI= process[static_tf0-1]: started with pid [20600] process[base_frame_to_laser-2]: started with pid [19920] process[rviz-3]: started with pid [18196] process[hector_mapping-4]: started with pid [19040] process[hector_trajectory_server-5]: started with pid [16016] RLException: Roslaunch ... (more)

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I tried something else. I opened a terminal, sourced, then "roslaunch rplidar_ros rplidar.launch". I opened another terminal, sourced, then ran: rosrun hector_geotiff geotiff_node.exe. Went to another terminal and typed rosnode list, indicating geotiff_node was active. Then, I went to the geotiff_mapper.launch file and commented out the node pkg section referring to geotiff_node. Then, to another terminal, sourced, and "roslaunch hector_slam_launch tutorial.launch". rviz opened up with some parts working. I was able to see my rplidar working and thinkened the LaserScan to .08 to see better. No map was being drawn or updated. I added a PointCloud, Topic: /slam_cloud. Tree showed" base_footprint, base_frame, laser, camera. At the bottom, TRANSFORM No transform from [map] to [base_footprint]. TF, Status: Warn, base_footprint Transform OK, base_frame Transform OK, camera_link Transform OK, laser Transform OK, map No transform from [map] to.. world the same as map. 6 nodes run.

JayROS gravatar image JayROS  ( 2020-06-18 20:58:55 -0600 )edit