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Hello,

I have been trying to make hector slam work on my turtlebot with a hokuyo 04lx laser. I am using ROS fuerte, ubuntu 12.04. Steps I followed: 1) Did rosmake to hector_slam package with no errors. 2) I already have a urdf of my turtlebot with laser installed. (I can use gmapping) 3) I did try the hector_turtlebot gazebo tutorials successfully.

I launched the files in this order.

1) turtlebot.launch file 2) hokuyo.launch file 3) hector_slam_launch tutorial.launch

The mapping_default.launch file is like this:

    <?xml version="1.0"?>
<launch>
  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
  <arg name="base_frame" default="base_footprint"/>
  <arg name="odom_frame" default="nav"/>
  <arg name="pub_map_odom_transform" default="true"/>
  <arg name="scan_subscriber_queue_size" default="5"/>
  <arg name="scan_topic" default="scan"/>
  <arg name="map_size" default="2048"/>

  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

    <!-- Frame names -->
    <param name="map_frame" value="map" />
    <param name="base_frame" value="base_link" />
    <param name="odom_frame" value="odom" />

    <!-- Tf use -->
    <param name="use_tf_scan_transformation" value="true"/>
    <param name="use_tf_pose_start_estimate" value="false"/>
    <param name="pub_map_odom_transform" value="true"/>

    <!-- Map size / start point -->
    <param name="map_resolution" value="0.050"/>
    <param name="map_size" value="$(arg map_size)"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5" />
    <param name="map_multi_res_levels" value="2" />

    <!-- Map update parameters -->
    <param name="update_factor_free" value="0.4"/>
    <param name="update_factor_occupied" value="0.9" />    
    <param name="map_update_distance_thresh" value="0.4"/>
    <param name="map_update_angle_thresh" value="0.06" />
    <param name="laser_z_min_value" value = "-1.0" />
    <param name="laser_z_max_value" value = "1.0" />

    <!-- Advertising config --> 
    <param name="advertise_map_service" value="true"/>

    <param name="scan_subscriber_queue_size" value="5"/>
    <param name="scan_topic" value="hokuyo_scan"/>

    <!-- Debug parameters -->
    <!--
      <param name="output_timing" value="false"/>
      <param name="pub_drawings" value="true"/>
      <param name="pub_debug_output" value="true"/>
    -->
    <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
  </node>

  <!--<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>-->
</launch>

I can see the laser scan and robot model on rviz. But the fixed frame and target from gives error on /map topic. If I change both of them to /odom the laser scans are shown. Also the Map field gives error. I cannot see the map being built.

Also on the terminal in the tutorial.launch file I get strange errors like this:

 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://192.168.111.21:11311

core service [/rosout] found
process[rviz-1]: started with pid [16501]
process[hector_mapping-2]: started with pid [16502]
process[hector_trajectory_server-3]: started with pid [16563]
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 ...

Hello All,

I am new to ROS and learning slowly. I am using ROS fuerte, ubuntu 12.04.

I downloaded the hector_slam package from the ros wiki page. After installing from the github repository, did a rosmake and got this error.

[ rosmake ] Output from build of package hector_geotiff_plugins written to:
[ rosmake ]    /home/turtlebot/.ros/rosmake/rosmake_output-20130910-013847/hector_geotiff_plugins/build_output.log
[rosmake-3] Finished <<< hector_geotiff_plugins [FAIL] [ 2.73 seconds ]         
[ rosmake ] Halting due to failure in package hector_geotiff_plugins. 
[ rosmake ] Waiting for other threads to complete.
[rosmake-2] Finished <<< hector_mapping [PASS] [ 39.46 seconds ]                
[ rosmake ] Results:                                                            
[ rosmake ] Cleaned 58 packages.                                                
[ rosmake ] Built 57 packages with 1 failures.                                  
[ rosmake ] Summary output to directory                                         
[ rosmake ] /home/turtlebot/.ros/rosmake/rosmake_output-20130910-013847

I have a hokuyo urg 04 lx for takin laser scans.

My question is - 1) How to get the hector_geotiff_plugins to build cleanly? 2) Which launch file I should use to run hector mapping (From the tutorial I assume the file is the tutorial.launch located in hector_slam_launch folder) , also in this case I will have to run the hokuyo node separately using hokuyo.launch, if I am correct? 3) I do not have an IMU to use with the hokuyo lidar but I have a turtlebot with gyro, can I launch the turtlebot launch file and use teleop to get the imu from the turtlebot utilizing its IMU? 4) Do I need to create a separate launch file as described in the tutorial or I have to edit the same tutorial.launch file.

My tutorial. launch file looks like this--- I do not understand which parameters to change, (sorry i am very new to ROS)

<?xml version="1.0"?>

<launch>

  <param name="/use_sim_time" value="true"/>

  <node pkg="rviz" type="rviz" name="rviz" 
    args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.vcg"/>

  <include file="$(find hector_mapping)/launch/mapping_default.launch"/>

  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
    <arg name="trajectory_source_frame_name" value="scanmatcher_frame"/> 
  </include>

</launch>

And the mapping_default.launch file looks like this ----

<?xml version="1.0"?>

<launch>
  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
  <arg name="base_frame" default="base_footprint"/>
  <arg name="odom_frame" default="nav"/>
  <arg name="pub_map_odom_transform" default="true"/>
  <arg name="scan_subscriber_queue_size" default="5"/>
  <arg name="scan_topic" default="scan"/>
  <arg name="map_size" default="2048"/>

  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

    <!-- Frame names -->
    <param name="map_frame" value="map" />
    <param name="base_frame" value="$(arg base_frame)" />
    <param name="odom_frame" value="$(arg odom_frame)" />

    <!-- Tf use -->
    <param name="use_tf_scan_transformation" value="true"/>
    <param name="use_tf_pose_start_estimate" value="false"/>
    <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>

    <!-- Map size / start point -->
    <param name="map_resolution" value="0.050"/>
    <param name="map_size" value="$(arg map_size)"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5" />
    <param name="map_multi_res_levels" value="2" />

    <!-- Map update parameters -->
    <param name="update_factor_free" value="0.4"/>
    <param name="update_factor_occupied" value="0.9" />    
    <param name="map_update_distance_thresh" value="0.4"/>
    <param name="map_update_angle_thresh" value="0.06" />
    <param name="laser_z_min_value" value = "-1.0" />
    <param name="laser_z_max_value" value = "1.0" />

    <!-- Advertising config --> 
    <param name="advertise_map_service" value="true"/>

    <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
    <param name="scan_topic" value="$(arg scan_topic)"/>

    <!-- Debug parameters ...

Hello All,

I was trying to install the hector_turtlebot package from hector_turtlebot wiki. I am using ros fuerte on ubuntu 12.04.

I used the following commands to download the package and rosmake-

$ cd ~/ros_workspace
$ svn co  <a href="https://tu-darmstadt-ros-pkg.googlecode.com/svn/trunk/hector_turtlebot">https://tu-darmstadt-ros-pkg.googlecode.com/svn/trunk/hector_turtlebot</a>
$ rosmake hector_turtlebot

When running the rosmake hector_turtlebot the build failed. The rosmake output files are attached here rosmake_output

turtlebot@turtlebot:~/ros_workspace$ rosmake hector_turtlebot

[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['hector_turtlebot']
[ rosmake ] Logging to directory /home/turtlebot/.ros/rosmake/rosmake_output-20130909-205636 [ rosmake ] Expanded args ['hector_turtlebot'] to: ['hector_turtlebot_apps', 'hector_turtlebot_description', 'hector_turtlebot_gazebo', 'hector_turtlebot_scan_filter'] [rosmake-0] Starting >>> roslang [ make ]
[rosmake-1] Starting >>> colladadom [ make ]
[rosmake-2] Starting >>> urdf_interface [ make ]
[rosmake-0] Finished <<< roslang No Makefile in package roslang
[rosmake-2] Finished <<< urdf_interface ROS_NOBUILD in package urdf_interface
[rosmake-3] Starting >>> rostest [ make ]
[rosmake-1] Finished <<< colladadom ROS_NOBUILD in package colladadom
[rosmake-0] Starting >>> roscpp [ make ]
[rosmake-1] Starting >>> hector_turtlebot_description [ make ]
[rosmake-2] Starting >>> rosbuild [ make ]
[rosmake-3] Finished <<< rostest No Makefile in package rostest
[rosmake-2] Finished <<< rosbuild No Makefile in package rosbuild
[rosmake-3] Starting >>> geometry_msgs [ make ]
[rosmake-2] Starting >>> xacro [ make ]
[rosmake-0] Finished <<< roscpp No Makefile in package roscpp
[rosmake-0] Starting >>> urdf_parser [ make ]
[rosmake-2] Finished <<< xacro ROS_NOBUILD in package xacro
[rosmake-2] Starting >>> collada_parser [ make ]
[rosmake-0] Finished <<< urdf_parser ROS_NOBUILD in package urdf_parser
[rosmake-3] Finished <<< geometry_msgs No Makefile in package geometry_msgs
[rosmake-3] Starting >>> sensor_msgs [ make ]
[rosmake-0] Starting >>> mk [ make ]
[rosmake-0] Finished <<< mk No Makefile in package mk
[rosmake-3] Finished <<< sensor_msgs No Makefile in package sensor_msgs
[rosmake-2] Finished <<< collada_parser ROS_NOBUILD in package collada_parser
[rosmake-0] Starting >>> urdf [ make ]
[rosmake-2] Starting >>> hector_turtlebot_scan_filter [ make ]
[rosmake-3] Starting >>> turtlebot_gazebo [ make ]
[rosmake-0] Finished <<< urdf ROS_NOBUILD in package urdf
[rosmake-0] Starting >>> turtlebot_description [ make ]
[rosmake-3] Finished <<< turtlebot_gazebo ROS_NOBUILD in package turtlebot_gazebo [rosmake-3] Starting >>> common_rosdeps [ make ]
[rosmake-0] Finished <<< turtlebot_description ROS_NOBUILD in package turtlebot_description [rosmake-0] Starting >>> std_msgs [ make ]
[rosmake-0] Finished <<< std_msgs No Makefile in package std_msgs
[rosmake-0] Starting >>> trajectory_msgs [ make ]
[rosmake-0] Finished <<< trajectory_msgs No Makefile in package trajectory_msgs [rosmake-0] Starting >>> gazebo_msgs [ make ]
[rosmake-0] Finished <<< gazebo_msgs ROS_NOBUILD in package gazebo_msgs
[rosmake-0] Starting >>> roslib [ make ]
[rosmake-0] Finished <<< roslib No Makefile in package roslib
[rosmake-0] Starting >>> bullet [ make ]
[rosmake-0] Finished <<< bullet ROS_NOBUILD in package bullet
[rosmake-3] Finished <<< common_rosdeps ROS_NOBUILD in package common_rosdeps
[rosmake-3] Starting >>> ogre [ make ]
[rosmake-3] Finished <<< ogre ROS_NOBUILD in package ogre
[rosmake-0] Starting >>> std_srvs [ make ]
[rosmake-0] Finished <<< std_srvs No Makefile in package std_srvs
[rosmake-0] Starting >>> rosconsole [ make ]
[rosmake-0] Finished <<< rosconsole No Makefile in package rosconsole
[rosmake-0] Starting >>> angles [ make ]
[rosmake-0] Finished <<< angles ROS_NOBUILD in package angles
[rosmake-0] Starting >>> rospy [ make ]
[rosmake-3] Starting >>> roswtf [ make ]
[rosmake-0] Finished <<< rospy No Makefile in package rospy
[rosmake-0] Starting >>> message_filters [ make ]
[rosmake-3] Finished <<< roswtf No Makefile in package roswtf
[rosmake-3] Starting >>> rosgraph_msgs [ make ]
[rosmake-3] Finished <<< rosgraph_msgs No Makefile in package rosgraph_msgs
[rosmake-3] Starting >>> rosservice [ make ]
[rosmake-3] Finished <<< rosservice No Makefile in package rosservice
[rosmake-3] Starting >>> dynamic_reconfigure [ make ]
[rosmake-3] Finished <<< dynamic_reconfigure ROS_NOBUILD in package dynamic_reconfigure [rosmake-3] Starting >>> protobuf [ make ]
[rosmake-3] Finished <<< protobuf ROS_NOBUILD in package protobuf
[rosmake-0] Finished <<< message_filters No Makefile in package message_filters [rosmake-0] Starting >>> tf [ make ]
[rosmake-0] Finished <<< tf ROS_NOBUILD in package tf
[rosmake-0] Starting >>> nav_msgs [ make ]
[rosmake-3] Starting >>> gazebo [ make ]
[rosmake-0 ... (more)

Hi,

I installed the turtlebot from the ISO supplied by iheartengineering. I am able to run the keyboard teleoperation but unable to launch the kinect to view on the rviz.

I configured everything properly, the installation automatically detected the IP and assigned to the turtlebot. When I run

roslaunch turtlebot_bringup kinect.launch

I got

turtlebot@turtlebot:~$ roslaunch turtlebot_bringup kinect.launch
... logging to /home/turtlebot/.ros/log/935ee6ec-18f7-11e2-bafc-002163c42ffd/roslaunch-turtlebot-25851.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://turtlebot:41913/

SUMMARY
========

PARAMETERS
 * /kinect_laser/max_height
 * /kinect_laser/min_height
 * /kinect_laser/output_frame_id
 * /kinect_laser_narrow/max_height
 * /kinect_laser_narrow/min_height
 * /kinect_laser_narrow/output_frame_id
 * /openni_launch/debayering
 * /openni_launch/depth_frame_id
 * /openni_launch/depth_mode
 * /openni_launch/depth_registration
 * /openni_launch/depth_time_offset
 * /openni_launch/image_mode
 * /openni_launch/image_time_offset
 * /openni_launch/rgb_frame_id
 * /pointcloud_throttle/max_rate
 * /rosdistro
 * /rosversion

NODES
  /
    kinect_breaker_enabler (turtlebot_node/kinect_breaker_enabler.py)
    kinect_laser (nodelet/nodelet)
    kinect_laser_narrow (nodelet/nodelet)
    openni_launch (nodelet/nodelet)
    openni_manager (nodelet/nodelet)
    pointcloud_throttle (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[kinect_breaker_enabler-1]: started with pid [25877]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[openni_manager-2]: started with pid [25878]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
[ INFO] [1350547767.989473252]: Initializing nodelet with 2 worker threads.
process[openni_launch-3]: started with pid [25900]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[pointcloud_throttle-4]: started with pid [25928]
[ INFO] [1350547768.076326059]: [/openni_launch] No devices connected.... waiting for devices to be connected
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[kinect_laser-5]: started with pid [25944]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[kinect_laser_narrow-6]: started with pid [25963]
[ INFO] [1350547769.100903910]: [/openni_launch] No devices connected.... waiting for devices to be connected
[kinect_breaker_enabler-1] process has finished cleanly
log file: /home/turtlebot/.ros/log/935ee6ec-18f7-11e2-bafc-002163c42ffd/kinect_breaker_enabler-1*.log
[ INFO] [1350547770.121378299]: [/openni_launch] No devices connected.... waiting for devices to be connected
[ INFO] [1350547771.141588971]: [/openni_launch] No devices connected.... waiting for devices to be connected
[ INFO] [1350547772.153494951]: [/openni_launch] No devices connected.... waiting for devices to be connected
[ INFO] [1350547773.170691697]: [/openni_launch] No devices connected.... waiting for devices to be connected
[ INFO] [1350547774.189712549]: [/openni_launch] No devices connected.... waiting for devices to be connected
[ INFO] [1350547775.201424931]: [/openni_launch] No devices connected.... waiting for devices to be connected
^C[kinect_laser_narrow-6] killing on exit
[kinect_laser-5] killing on exit
[pointcloud_throttle-4] killing on exit
[openni_launch-3] killing on exit
[openni_manager-2] killing on exit
[ INFO] [1350547775.993898334]: [/openni_launch] No devices connected.... waiting for devices to be connected
[openni_manager-2] escalating to SIGTERM
shutting down processing monitor...
... shutting down processing monitor complete
done

I tried to check whether the kinect is detectable ... (more)