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2023-09-05 04:06:21 -0500 received badge  Notable Question (source)
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2022-02-08 20:50:34 -0500 marked best answer How to use slam toolbox?

I've seen the introduction of slam toolbox, but have no idea what exactly tools it has(launch files or nodes), how to use them, what input do I need to give, and what their output is.

I think this has a great relationship with my lack of understanding of SLAM

But I still want to ask if there is a more detailed document so that I can use the slam toolbox with the only understanding of the input and output

Thanks in advance

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2022-01-04 03:23:27 -0500 asked a question Laser scan can't match map during navigation

Laser scan can't match map during navigation Ros version: galactic Laser scan can't match map during navigation even I

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2021-11-24 07:33:31 -0500 marked best answer Navigation2:[navfn_planner] Original error: GetCostmap service client: async_send_request failed

ROS version: Dashing

I've launched the navigation2 on the physical robot

After I set the initial pose, both navfn_planner and map_server show some error

[navfn_planner-6] [ERROR] []: Caught exception in callback for transition 10
[navfn_planner-6] [ERROR] []: Original error: GetCostmap service client: async_send_request failed
[navfn_planner-6] [WARN] []: Error occurred while doing error handling.
[navfn_planner-6] [FATAL] [navfn_planner]: Lifecycle node entered error state
[lifecycle_manager-1] [ERROR] [lifecycle_manager]: Failed to change state for node: navfn_planner
[lifecycle_manager-1] [ERROR] [lifecycle_manager]: Failed to bring up node: navfn_planner, aborting bringup

[lifecycle_manager-1] [INFO] [lifecycle_manager]: Starting the system bringup...
[lifecycle_manager-1] [INFO] [lifecycle_manager]: Creating and initializing lifecycle service clients 
[world_model-4] [INFO] [global_costmap.global_costmap_rclcpp_node]: [signalFailure] Drop message: frame 'laser' at time 1637655781.765 for reason(0)
[lifecycle_manager-1] [INFO] [lifecycle_manager]: Configuring and activating map_server
[map_server-2] [WARN] [rcl_lifecycle]: No transition matching 1 found for current state active
[map_server-2] [ERROR] []: Unable to start transition 1 from current state active: Transition is not registered., at /tmp/binarydeb/ros-dashing-rcl-lifecycle-0.7.10/src/rcl_lifecycle.c:327
[lifecycle_manager-1] [ERROR] [lifecycle_manager]: Failed to change state for node: map_server
[lifecycle_manager-1] [ERROR] [lifecycle_manager]: Failed to bring up node: map_server, aborting bringup

image description

And I have no idea what is going on

Here is my config file

amcl:
  ros__parameters:
    use_sim_time: false
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "differential"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05

amcl_map_client:
  ros__parameters:
    use_sim_time: false

amcl_rclcpp_node:
  ros__parameters:
    use_sim_time: false

bt_navigator:
  ros__parameters:
    use_sim_time: false
    bt_xml_filename: "navigate_w_replanning_and_recovery.xml"


dwb_controller:
  ros__parameters:
    use_sim_time: false
    debug_trajectory_details: True
    min_vel_x: 0.0
    min_vel_y: 0.0
    max_vel_x: 0.26
    max_vel_y: 0.0
    max_vel_theta: 1.0
    min_speed_xy: 0.0
    max_speed_xy: 0.26
    min_speed_theta: 0.0
    min_x_velocity_threshold: 0.001
    # Add high threshold velocity for turtlebot 3 issue.
    # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    acc_lim_x: 2.5
    acc_lim_y: 0.0
    acc_lim_theta: 3.2
    decel_lim_x: -2.5
    decel_lim_y: 0.0
    decel_lim_theta: -3.2
    vx_samples: 20
    vy_samples: 5
    vtheta_samples: 20
    sim_time: 1.7
    linear_granularity: 0.05
    xy_goal_tolerance: 0.25
    transform_tolerance: 0.2
    critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
    BaseObstacle.scale: 0.02
    PathAlign.scale: 0.0
    GoalAlign.scale: 0.0
    PathDist.scale: 32.0
    GoalDist.scale: 24.0
    RotateToGoal.scale: 32.0


local_costmap:
  local_costmap:
    ros__parameters:
      use_sim_time: false
      global_frame: odom
      plugin_names: ["obstacle_layer", "inflation_layer"]
      plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::InflationLayer"]
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.05
      robot_radius: 0.105
      inflation_layer.cost_scaling_factor: 3.0
      obstacle_layer:
        enabled: True
      always_send_full_costmap: True
      observation_sources: scan
      scan:
        topic: /scan
        max_obstacle_height: 2.0
        clearing: True
        marking: True
  local_costmap_client:
    ros__parameters:
      use_sim_time: false
  local_costmap_rclcpp_node:
    ros__parameters:
      use_sim_time: false

global_costmap:
  global_costmap:
    ros__parameters:
      use_sim_time: false
      robot_radius: 0.105
      obstacle_layer:
        enabled: True
      always_send_full_costmap: True
      observation_sources: scan ...
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2021-11-24 07:33:30 -0500 received badge  Scholar (source)
2021-11-24 07:33:15 -0500 commented answer Navigation2:[navfn_planner] Original error: GetCostmap service client: async_send_request failed

OK. Thanks

2021-11-23 02:48:44 -0500 received badge  Editor (source)
2021-11-23 02:48:44 -0500 edited question Navigation2:[navfn_planner] Original error: GetCostmap service client: async_send_request failed

Navigation2:[navfn_planner] Original error: GetCostmap service client: async_send_request failed ROS version: Dashing I

2021-11-23 02:48:15 -0500 edited question Navigation2:[navfn_planner] Original error: GetCostmap service client: async_send_request failed

Navigation2:[navfn_planner] Original error: GetCostmap service client: async_send_request failed ROS version: Dashing I

2021-11-23 02:38:07 -0500 asked a question Navigation2:[navfn_planner] Original error: GetCostmap service client: async_send_request failed

Navigation2:[navfn_planner] Original error: GetCostmap service client: async_send_request failed ROS version: Dashing I

2021-11-01 09:31:11 -0500 commented question view_frame.py can not receive the tf_static

Thanks for your careful inspection. But it is indeed not for this reason. Because the view_frame.py can't receive stati

2021-11-01 09:30:21 -0500 commented question view_frame.py can not receive the tf_static

Thanks for your careful inspection. But it is indeed not for this reason. Because the view_frame.py can't receive stati

2021-11-01 09:29:47 -0500 commented question view_frame.py can not receive the tf_static

Thanks for your careful inspection. But it is indeed not for this reason. Because the view_frame.py can't receive stati

2021-11-01 09:29:22 -0500 commented question view_frame.py can not receive the tf_static

Thanks for your careful inspection. But it is indeed not for this reason. Because the view_frame.py can't receive stati

2021-11-01 06:51:14 -0500 asked a question view_frame.py can not receive the tf_static

view_frame.py can not receive the tf_static I'm using dashing ubuntu 18.04 with robot_state_publisher on jetson nano I'

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2021-05-05 02:19:08 -0500 commented answer How to use slam toolbox?

Thanks a lot. But I have no physical turtlebot3 robot. Can this run with a simulated robot?

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2021-05-04 02:28:25 -0500 asked a question How to use slam toolbox?

How to use slam toolbox? I've seen the introduction of slam toolbox, but have no idea what exactly tools it has(launch f

2021-03-22 22:43:37 -0500 asked a question ignoring unknown package 'tf2_tools' in --packages-select

ignoring unknown package 'tf2_tools' in --packages-select I'm running ROS2 dashing, and I found that I don't have tf2_to