Diana_Elyza's profile - activity

Hi!!!

I'm newbie in this. I'm trying to use the turtlebot packages in a Roomba 600 but I can't. I've found that the default rate is 57600 and I need to change it to 115200. I've saw in the folder "create_driver" that it is at /opt/ros/indigo/share/create_driver the "package.xml" file and this file uses the roomba driver of a github repository, this is the code:

<package>
  <name>create_driver</name>
  <version>2.3.0</version>
  <description>
    Driver for iRobot Create and Roomba

    This is a generic driver for iRobot Create that currently holds
    implementations for Turtlebot and Roomba. Port
    of pyrobot.py by Damon Kohler.  It is currently labeled as
    turtlebot_driver pending review by the entire create community
    before using the name create_driver.

    For ROS bindings, please see turtlebot_node.
  </description>
  <maintainer email="turtlebot@osrfoundation.org">OSRF</maintainer>
  <license>MIT</license>
  <url type="website">http://ros.org/wiki/create_driver</url>
  <url type="repository">https://github.com/turtlebot/turtlebot_create</url>
  <url type="bugtracker">https://github.com/turtlebot/turtlebot_create/issues</url>
  <author email="damonkohler@google.com">Daemon Kohler</author>
  <author email="kwc@kwc.org">Ken Conley</author>
  <author email="mwise@willowgarage.com">Melonee Wise</author>

  <buildtool_depend>catkin</buildtool_depend>

  <export>

In that repository uses a baud rate of 57600 and my robot works with 115200, I've download the package of this repository and I've change it the baud rate but I don't know how to use it instead of the web repository, that I imagine is this line code : <url type="repository">https://github.com/turtlebot/turtlebot_create</url>

Thanks in advance!!! <rosdoc config="rosdoc.yaml"/> </export> </package>

I upload the rosbag files of a small environment and a big environment, the first is called "Aula3V3" and the second "DC

I upload the rosbag files of a small environment and a big environment, the first is called "Aula3V3" and the second "DC

Thanks again DavidN! HectorSLAM sometimes collapsed with big environments or it generates small portions of the map, bu

Why HectorSLAM gets better results from a rosbag that in live time? Hi!!! I've been doing proves with the turtlebot usi

Why HectorSLAM gets better results from a rosbag that in live time? Hi!!! I've been doing proves with the turtlebot usi

I tried this algorithm with a rosbag that I generated of another environment bigger but HectorSLAM collapsed, it only di

Thanks DavidN by your attention!! Then, HectorSLAM does not do the filtering of data? Because I only keep the data from

I've running this with an Intel core i7 with 8 cores and I don't know how to see the CPU usage of each node. Thanks by y

Why the maps generated from a rosbag (offline mode) are better than in live time? Hi!!! I've been used Gmapping and Hec

Why HectorSLAM gets better results from a rosbag that in live time? Hi!!! I've been doing proves with the turtlebot usi

Why HectorSLAM gets better results from a rosbag that in live time? Hi!!! I've been doing proves with the turtlebot usi

Hi!!!

It seems that the installation of Turtlebot does not have support for Kinetic, the last version with support is Indigo. I hope that this change.

Greetings!!!

Hi!!!

I'm trying to use Hector SLAM in a TurtleBot. In the simulation, the launch file below (from an user of this platform) works fine, but it doesn't in the reality.

<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.rviz"/>

  <include file="$(find hector_mapping)/launch/mapping_default.launch">
    <arg name="odom_frame" value="odom"/>

  </include>

   <arg name="trajectory_source_frame_name" value="scanmatcher_frame"/>
   <arg name="trajectory_update_rate" default="4"/>
   <arg name="trajectory_publish_rate" default="0.25"/>

 <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
    <param name="target_frame_name" type="string" value="map" />
    <param name="source_frame_name" type="string" value="$(arg trajectory_source_frame_name)" />
    <param name="trajectory_update_rate" type="double" value="$(arg trajectory_update_rate)" />
    <param name="trajectory_publish_rate" type="double" value="$(arg trajectory_publish_rate)" />
  </node>


  <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
    <remap from="map" to="/dynamic_map" />
    <param name="map_file_path" type="string" value="$(find hector_geotiff)/maps" />
    <param name="map_file_base_name" type="string" value="hector_slam_map" />
    <param name="geotiff_save_period" type="double" value="0" />
    <param name="draw_background_checkerboard" type="bool" value="true" />
    <param name="draw_free_space_grid" type="bool" value="true" />
  </node>

</launch>

The first error was "Fixed Frame [map] does not exist", and I tried to solve it using the file of move_base in my launch file and executing the the 3dsensor file. Sometimes does not appear that error, but in the robot model appears "No transform from [every robot part] to [/map]. The launch file that made is below:

<launch>

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


<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>

  <include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
    <arg name="rgb_processing" value="false" />
    <arg name="depth_registration" value="false" />
    <arg name="depth_processing" value="false" />
    <arg name="scan_topic" value="/scan" />
  </include>

  <include file="$(find hector_mapping)/launch/mapping_default.launch">
    <arg name="odom_frame" value="odom"/>
    <param name="pub_map_odom_transform" value="true"/>
    <param name="map_frame" value="map" />
    <param name="base_frame" value="base_frame" />
   </include>

   <arg name="trajectory_source_frame_name" value="scanmatcher_frame"/>
   <arg name="trajectory_update_rate" default="4"/>
   <arg name="trajectory_publish_rate" default="0.25"/>

 <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
    <param name="target_frame_name" type="string" value="map" />
    <param name="source_frame_name" type="string" value="$(arg trajectory_source_frame_name)" />
    <param name="trajectory_update_rate" type="double" value="$(arg trajectory_update_rate)" />
    <param name="trajectory_publish_rate" type="double" value="$(arg trajectory_publish_rate)" />
  </node>


  <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
    <remap from="map" to="/dynamic_map" />
    <param name="map_file_path" type="string" value="$(find hector_geotiff)/maps" />
    <param name="map_file_base_name" type="string" value="hector_slam_map" />
    <param name="geotiff_save_period" type="double" value="0" />
    <param name="draw_background_checkerboard" type="bool" value="true" />
    <param name="draw_free_space_grid" type="bool" value="true" />
  </node>

</launch>

I don't know what can I do? I hope that you can help me.

Thanks in advance =)

Hi!!!

I'm using ros indigo and I've installed SLAM_KARTO from github. I'm using this package with the turtlebot simulator in gazebo and rviz but when I opened rviz, the Robot Model and the Laser Scan menu appears in red color and the Map and Costmap menu have the message "No Map Received". So, I've changed the "Fixed Frame" from map to base_footprint and the Robot Model and the Laser Scan are solved but, the Map and Costmap are still with the message "No Map Received". I hope that you can help me.

Thanks in advance!!!

Hi!!!

I'm trying to use CRSM SLAM with a Turtlebot in simulation, but when I run it in the console appears the next error: [ERROR] [1482804974.498150696, 10.510000000]: [CrsmSlam] Error in tf : "base_link" passed to lookupTransform argument target_frame does not exist.. When I visualize the mapping in Rviz, the "Robot Model" and the "Laser Scan" menu appear in red. I changed the map topic to "slam/occupancyGridMap" and the map building begins but the Robot Model says "No transform from []" in all the links, and the Laser Scan says "For frame [/camera_depth_frame]: No transform to fixed frame [map]. TF error: [Could not find a connection between 'map' and 'camera_depth_frame' because they are not part of the same tree. Tf has two or more unconnected trees.]". I also changed the "Fixed Frame" from map to base_footprint and the Robot Model and the Laser Scan menu is OK but the "Map" menu goes with this error No transform from [map] to [base_footprint]. What can I do? I don't understand the TF package yet. I hope that you can help me.

Thanks in advance!!!

---------------------------------------------------Edit-------------------------------------------------

I've changed the crsm_slam_parameters.yaml file like this:

#~ Topics for publishing/subscribing

occupancy_grid_publish_topic : /slam/occupancyGridMap
robot_trajectory_publish_topic : /robot_trajectory
trajectory_publisher_frame_id : map
laser_subscriber_topic : /scan

#~ Tf frames 

world_frame : world
base_footprint_frame : base_footprint
base_frame : base_link
map_frame : map
laser_frame : camera_rgb_frame

#~ SLAM parameters

hill_climbing_disparity : 40
slam_container_size : 500
slam_occupancy_grid_dimentionality : 0.02
map_update_density : 40
map_update_obstacle_density : 3.0
scan_density_lower_boundary : 0.3
max_hill_climbing_iterations : 40000
desired_number_of_picked_rays : 40

#~ Publishing frequencies (Hz)

occupancy_grid_map_freq : 1.0
robot_pose_tf_freq : 5.0
trajectory_freq : 1.0

#~ Robot parameters

robot_width : 0.6
robot_length : 0.75

And I added a static publisher from map to odom to my launch file:

<!--Simulation Mode SLAM Launch -->
<launch>

    <include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
        <arg name="rgb_processing" value="false" />
        <arg name="depth_registration" value="false" />
        <arg name="depth_processing" value="false" />
        <arg name="scan_topic" value="/scan" /> 

    </include>


    <node name="crsm_slam_node" type="crsm_slam_node" pkg="crsm_slam" respawn="false" ns="crsm_slam" output="screen"/>
    <rosparam file="$(find crsm_slam)/config/crsm_slam/crsm_slam_parameters.yaml" command="load" ns="crsm_slam"/>

    <node pkg="tf" type="static_transform_publisher" name="world2map" args="0 0 0 0 0 0  world map 100" /> 



     <node pkg="tf" type="static_transform_publisher" name="link0_broadcaster" args="0 0 0 0 0 0 1 map odom 100" />



</launch>

I don't have errors anymore, however, when I build the map the robot is quickly lost in Rviz because sometimes it appears in two places at the same time. For this reason the map generated has many errors. I hope that you can help me.

Thanks in advance!!!

Hi!

I used the frontier_exploration package for autonomous mapping with Gmapping. I've been using HectorSLAM for mapping in a Turtlebot in Gazebo and Rviz and I tried to use the frontier_exploration for building the map without teleoperation without success. I read about the hector_navigation but I don't know if this package is simular to the frontier_exploration and I've couldn't ran it. I'm still newbie in ROS and I hope that you can help me.

Thanks in advance!!!