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Problem with hector_slam ? [closed]

asked 2013-02-06 01:21:00 -0600

Wafaay gravatar image

updated 2013-02-06 02:03:09 -0600

i was trying to follow the tutorials of mapping with hector_slam through this turtorials MappingUsingLoggedData and when i launched the command

roslaunch hector_slam_launch tutorial.launch

i got this :-

    wafaay@wafaay-RiskTeam:~$ roslaunch hector_slam_launch tutorial.launch
... logging to /home/wafaay/.ros/log/d188be08-705d-11e2-9b0d-c417fea4b901/roslaunch-wafaay-RiskTeam-6278.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://192.168.1.17:58450/

SUMMARY
========

PARAMETERS
 * /hector_geotiff_node/draw_background_checkerboard
 * /hector_geotiff_node/draw_free_space_grid
 * /hector_geotiff_node/geotiff_save_period
 * /hector_geotiff_node/map_file_base_name
 * /hector_geotiff_node/map_file_path
 * /hector_mapping/advertise_map_service
 * /hector_mapping/base_frame
 * /hector_mapping/laser_z_max_value
 * /hector_mapping/laser_z_min_value
 * /hector_mapping/map_frame
 * /hector_mapping/map_multi_res_levels
 * /hector_mapping/map_resolution
 * /hector_mapping/map_size
 * /hector_mapping/map_start_x
 * /hector_mapping/map_start_y
 * /hector_mapping/map_update_angle_thresh
 * /hector_mapping/map_update_distance_thresh
 * /hector_mapping/odom_frame
 * /hector_mapping/pub_map_odom_transform
 * /hector_mapping/scan_subscriber_queue_size
 * /hector_mapping/scan_topic
 * /hector_mapping/tf_map_scanmatch_transform_frame_name
 * /hector_mapping/update_factor_free
 * /hector_mapping/update_factor_occupied
 * /hector_mapping/use_tf_pose_start_estimate
 * /hector_mapping/use_tf_scan_transformation
 * /hector_trajectory_server/source_frame_name
 * /hector_trajectory_server/target_frame_name
 * /hector_trajectory_server/trajectory_publish_rate
 * /hector_trajectory_server/trajectory_update_rate
 * /rosdistro
 * /rosversion
 * /use_sim_time

NODES
  /
    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)

ROS_MASTER_URI=http://192.168.1.10:11311

core service [/rosout] found
process[rviz-1]: started with pid [6299]
process[hector_mapping-2]: started with pid [6300]
process[hector_trajectory_server-3]: started with pid [6301]
process[hector_geotiff_node-4]: started with pid [6302]

(rviz:6299): Gtk-WARNING **: Unable to locate theme engine in module_path: "pixmap",

(rviz:6299): Gtk-WARNING **: Unable to locate theme engine in module_path: "pixmap",

(rviz:6299): Gtk-WARNING **: Unable to locate theme engine in module_path: "pixmap",

(rviz:6299): Gtk-WARNING **: Unable to locate theme engine in module_path: "pixmap",
[ INFO] [1360156082.175497195, 1310298086.328899003]: No plugins loaded for geotiff node
[ INFO] [1360156082.175575369, 1310298086.328899003]: Geotiff node started
HectorSM map lvl 0: cellLength: 0.05 res x:2048 res y: 2048
HectorSM map lvl 1: cellLength: 0.1 res x:1024 res y: 1024
[ERROR] [1360156082.570152504, 1310298086.716043897]: Trajectory Server: Transform from /map to scanmatcher_frame failed: Frame id /scanmatcher_frame does not exist! Frames (7): Frame /base_link exists with parent /nav.
Frame /nav exists with parent /map.
Frame /base_stabilized exists with parent /nav.
Frame /base_footprint exists with parent /nav.
Frame /laser exists with parent /base_link.
Frame /map exists with parent NO_PARENT.


[ INFO] [1360156082.590337365, 1310298086.736268128]: HectorSM p_base_frame_: base_footprint
[ INFO] [1360156082.590543708, 1310298086.736268128]: HectorSM p_map_frame_: map
[ INFO] [1360156082.590820714, 1310298086.736268128]: HectorSM p_odom_frame_: nav
[ INFO] [1360156082.590929407, 1310298086.736268128]: HectorSM p_scan_topic_: scan
[ INFO] [1360156082.591298809, 1310298086.746395878]: HectorSM p_use_tf_scan_transformation_: true
[ INFO] [1360156082.591393751, 1310298086.746395878]: HectorSM p_pub_map_odom_transform_: true
[ INFO] [1360156082.591519087, 1310298086.746395878]: HectorSM p_scan_subscriber_queue_size_: 5
[ INFO] [1360156082.591586133, 1310298086.746395878]: HectorSM p_map_pub_period_: 2.000000
[ INFO] [1360156082.591642680, 1310298086.746395878]: HectorSM p_update_factor_free_: 0.400000
[ INFO] [1360156082.591691421, 1310298086.746395878]: HectorSM p_update_factor_occupied_: 0.900000
[ INFO] [1360156082.591737359, 1310298086.746395878]: HectorSM p_map_update_distance_threshold_: 0.400000 
[ INFO] [1360156082.591795536, 1310298086.746395878]: HectorSM p_map_update_angle_threshold_: 0.060000
[ INFO] [1360156082.591938574, 1310298086.746395878]: HectorSM p_laser_z_min_value_: -1.000000
[ INFO] [1360156082.591985693, 1310298086.746395878]: HectorSM p_laser_z_max_value_: 1.000000
[ERROR] [1360156082.706293128, 1310298086.857475367]: Trajectory Server: Transform from /map to scanmatcher_frame failed: Frame id /scanmatcher_frame does not exist! Frames (7): Frame /base_link exists with parent /nav.
Frame /nav exists with parent /map.
Frame /base_stabilized exists with parent /nav.
Frame /base_footprint exists with parent /nav.
Frame /laser ...
(more)
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Closed for the following reason question is not relevant or outdated by tfoote
close date 2013-04-17 22:01:35

Comments

Are you running anything (rosbag?) in parallel? The tf errors suggest that something is already publishing tf information for /map, /base_stabilized, etc., which you shouldn't have unless playing a logfile.

dornhege gravatar imagedornhege ( 2013-02-06 01:34:26 -0600 )edit

no i am not running anything besides ..only hector_slam_launch then i get this error.. but the rviz open up after this command which may the reason of this problem by publishing the /map???

Wafaay gravatar imageWafaay ( 2013-02-06 01:44:19 -0600 )edit

No, rviz doesn't publish the map. It only receives. Check with for example rxgraph or rostopic info if there are publishers for tf.

dornhege gravatar imagedornhege ( 2013-02-06 02:28:32 -0600 )edit

No, rviz doesn't publish the map. It only receives. Check with for example rxgraph or rostopic info if there are publishers for tf.

dornhege gravatar imagedornhege ( 2013-02-06 02:28:39 -0600 )edit

thank you very much i will try to find what was missing and i'll edit the question if there is any thing new

Wafaay gravatar imageWafaay ( 2013-02-06 04:37:07 -0600 )edit

1 Answer

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answered 2013-02-06 02:00:54 -0600

A few error messages at the beginning are due to tf still setting up, they can be ignored. I just tested the tutorial on my machine using hector_slam from .debs on groovy/Ubuntu 12.04 and didn't notice any problems.

Looking at your screenshot I see a "lookupTransform" info message regarding "/camera_depth_frame". As there is nothing of this sort in the bag file, it looks like you accidentally have other stuff running as well.

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Comments

i am using ubuntu 11.10 /fuerte ... and has icreate base and the kinect sensor only ... and there was nothing else running sir..so it might be the version of my ubuntu or fuerte the reason for such error ?

Wafaay gravatar imageWafaay ( 2013-02-06 04:44:34 -0600 )edit

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Asked: 2013-02-06 01:21:00 -0600

Seen: 943 times

Last updated: Feb 06 '13