zzzZuo's profile - activity

I wanted to exploit the fact that Cartographer gives pretty accurate position estimate. I used Cartographer just using IMU and laser to make an indoor map, and it pretty good.

Then I want use Cartographer as odometry and amcl to do global localization in a pre-aquired map by Cartographer, but the robot drift away.

On my robot a TF frame that looks like this:

The configuration of Cartographer_ros is like:

include "map_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  map_frame = "odom",
  tracking_frame = "gyro_link",
  published_frame = "base_footprint",
  odom_frame = "google_odom",
  provide_odom_frame = true,
  use_odometry = false,
  use_laser_scan = true,
  use_multi_echo_laser_scan = false,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
}

MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.laser_min_range = 0.2
TRAJECTORY_BUILDER_2D.laser_max_range = 8.
TRAJECTORY_BUILDER_2D.laser_missing_echo_ray_length = 5.
TRAJECTORY_BUILDER_2D.use_imu_data = true
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)

SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.65
SPARSE_POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7

return options

I used the position estimate to find odometry and now Cartographer successful transform the required tf. But when I run amcl and publish an already created map using map_server, the pose of robot drift. It seems amcl doesn't work enven if the tf, map, laser_scan look like ok. And I also remap the Cartographer mapping map to something else . Please help how to resolve this issue.

@Naman @rob_tun, Hi, Naman and rob_tun, now I have the same problem while executing ros node. And my hardware interface is Serial2USB.could you tell me what do you solved your problem?

Hi,I have the same problem with Cerin,but when I ran the launch file like Cerin's /webcam_lsd_slam.launch, it have some errors:

core service [/rosout] found
ERROR: cannot launch node of type [usb_cam/usb_cam_node]: usb_cam
ROS path [0]=/opt/ros/indigo/share/ros
ROS path [1]=/home/zuo/ros_ws/lsd_slam/src
ROS path [2]=/home/zuo/ros_ws/ws_uav/src
ROS path [3]=/home/zuo/ros_ws/ws_ethzasl_ptam/src
ROS path [4]=/opt/ros/indigo/share
ROS path [5]=/opt/ros/indigo/stacks
process[usb_cam/to_mono_node1-2]: started with pid [21536]
ERROR: cannot launch node of type [image_view/image_view]: image_view
ROS path [0]=/opt/ros/indigo/share/ros
ROS path [1]=/home/zuo/ros_ws/lsd_slam/src
ROS path [2]=/home/zuo/ros_ws/ws_uav/src
ROS path [3]=/home/zuo/ros_ws/ws_ethzasl_ptam/src
ROS path [4]=/opt/ros/indigo/share
ROS path [5]=/opt/ros/indigo/stacks
[ERROR] [1470734987.261875629]: Skipping XML Document "/opt/ros/indigo/share/hector_pose_estimation  hector_pose_estimation_nodelets.xml" which had no Root Element.  This likely means the XML is malformed or missing.

and my workspace is like:

~/lsd_slam
    src/
        /lsd_slam
            /lsd_slam
            /lsd_slam_core
            /lsd_slam_viewer
        /lsd_slam_test
           /launch
                /webcam_lsd_slam.launch

Thank in advance!

Hi Cerin, I want to do the same things with you.I add a launch file which is the same with you.But when I ran it, there have some error. And I put it in the answers 4, plz give me some advise. Thank you in advance!

Hi erveryone, I want to add some change in pr2_teleop/teleop_pr2_keyboard.cpp to add a front collision avoidance system in my UAV project.And then I have some questions:
1. I used ros::Timer to call keyboardLoop and subscribe a topic "/front_scan"(custom) to call a callback function RecieveCostmapCB to recieve UAV front costmap.

//create keyboard Timer
ros::NodeHandle nh_;  
ros::Timer keyboardTimer_;  
keyboardTimer_ = nh_.createTimer(ros::Duration(0.05), &TeleopPR2Keyboard::keyboardLoop, &tpk);  
keyboardTimer_.start();

But it can't step into RecieveCostmapCB until I press any key. As you know, that maybe can't step into RecieveCostmapCB when I press any key, but the result went counter to my hopes. So, why?
2. If I used ros::MultiThreadSpinner instead of ros::spin(), it will be OK! I know this is used MultiThread, but does ROS was so interlligence to do this?(I can't tell them what is belong to A thread and what is belong B thread.

ros::MultiThreadedSpinner spinner(2);  
spinner.spin();

void TeleopPR2Keyboard::init()
{
    cmd.linear.x = cmd.linear.y = cmd.angular.z = 0;  
    StopCmd.linear.x = StopCmd.linear.y = StopCmd.angular.z = 0;  
    vel_pub_ = n_.advertise<geometry_msgs::Twist>("cmd_vel", 1);  
    sub_costmap = n_.subscribe("/front_scan", 1000, &TeleopPR2Keyboard::RecieveCostmapCB, this);  
    ros::NodeHandle n_private("~");  
    n_private.param("walk_vel", walk_vel, 0.5);  
    n_private.param("run_vel", run_vel, 1.0);  
    n_private.param("yaw_rate", yaw_rate, 1.0);  
    n_private.param("yaw_run_rate", yaw_rate_run, 1.5);  
}

Thanks you so much for sharing!

Thanks for your advise!

What's different on environment when use amcl_demo and gmapping in gazebo?And I'm so sorry for my english,hope you could understand. hhhhhhhhhhLOL

I have used roslaunch gmapping in gazebo by relative path,and it's right.I think it maybe something wrong in launch file or .bashrc file.

Has your problem solved? I also have a similar problems that I couldn't receive a map after it roslaunch.

I'm afraid it's not a path error.I try full path,but it also output next error info

process has died [pid 24354, exit code 255

In any case, thanks for your time.

I have commented out the 3 remappings in the launch file, but it still has no map. I really don't know where is the problem caused in this way, thank you for your answer

/opt/ros/indigo/share/turtlebot_navigation/maps/willow-2010-02-18-0.10.yaml

Hi ,every one. Now, I want to run amcl_demo in gazebo in my ROS(indigo + ubuntu14.04 + kinect1)

roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch
roslaunch turtlebot_gazebo amcl_demo.launch map_file:=database/test0.yaml

but after I ran

roslaunch turtlebot_gazebo amcl_demo.launch map_file:=database/test0.yaml

the terminal output some error info:

'[ERROR] [1462761356.977949263]: Map_server could not open database/test0.yaml.
 [ INFO] [1462761357.305058954, 74.440000000]: No matching device found.... waiting for devices. Reason: std::string      openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-indigo-openni2-camera- 0.2.5/src/openni2_driver.cpp @ 631 : Invalid device number 1, there are 0 devices connected.
[map_server-10] process has died [pid 11399, exit code 255, cmd /home/zuo/ros/ws/devel/lib/map_server/map_server database/test0.yaml __name:=map_server __log:=/home/zuo/.ros/log/94c0a0f6-158e-11e6-b559-005a39d84f79/map_server-10.log].
log file: /home/zuo/.ros/log/94c0a0f6-158e-11e6-b559-005a39d84f79/map_server-10*.log'

they said "No matching device found",but when I could ran gmapping in gazebo, it's OK!

roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch
roslaunch turtlebot_gazebo gmapping_demo.launch

So , what's problem with me? Thanks for your help!

When I ran

roslaunch turtlebot_bringup minimal.launch

there have

WARNING: Package "ompl" does not follow the version conventions. It should not contain leading zeros (unless the number is 0).

And then I found RViz can't add RobotModel.

SOS! Thanks All!