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2022-06-17 06:48:27 -0500 marked best answer tips to improve gmapping results

Greetings,

I am running slam_gmapping ( gmapping ) in PioneerAT with Sick LMS200 on ROS Diamondback. I am using slam_gmapping_pr2.launch from gmapping package. Following picture shows the result. TF defined is also visible in image.

RViz image capture

The map is curved on straight corridors. Parallel corridors are merged. A small circular move (loop ~ radius 3meters, at center) is not detected. One corridor has come twice (parallel,joined) due to some problem.

I tried changing the launch file and used following:

<launch>
    <param name="use_sim_time" value="true"/>
    <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<!--      <remap from="scan" to="scan"/>-->
    <param name="odom_frame" value="/RosAria/pose"/>
      <param name="map_udpate_interval" value="2.0"/>
      <param name="maxUrange" value="12.0"/>
      <param name="sigma" value="0.05"/>
      <param name="kernelSize" value="1"/>
      <param name="lstep" value="0.05"/>
      <param name="astep" value="0.05"/>
      <param name="iterations" value="5"/>
      <param name="lsigma" value="0.075"/>
      <param name="ogain" value="3.0"/>
      <param name="lskip" value="0"/>
      <param name="srr" value="0.1"/>
      <param name="srt" value="0.2"/>
      <param name="str" value="0.1"/>
      <param name="stt" value="0.2"/>
      <param name="linearUpdate" value="0.5"/>
      <param name="angularUpdate" value="0.5"/>
      <param name="temporalUpdate" value="3.0"/>
      <param name="resampleThreshold" value="0.5"/>
      <param name="particles" value="30"/>
      <param name="xmin" value="-50.0"/>
      <param name="ymin" value="-50.0"/>
      <param name="xmax" value="50.0"/>
      <param name="ymax" value="50.0"/>
      <param name="delta" value="0.05"/>
      <param name="llsamplerange" value="0.01"/>
      <param name="llsamplestep" value="0.01"/>
      <param name="lasamplerange" value="0.005"/>
      <param name="lasamplestep" value="0.005"/>
    </node>
</launch>

This resulted in even worse map shown in picture below: Rviz image capture

Scan Matching Failed, using odometry. Likelihood=-90.753
lp:18.5471 -20.6458 -1.92343
op:18.1182 -5.70109 1.08139
Scan Matching Failed, using odometry. Likelihood=-297.351
lp:18.5471 -20.6458 -1.92343
op:18.1182 -5.70109 1.08139
Scan Matching Failed, using odometry. Likelihood=-822.941
lp:18.5471 -20.6458 -1.92343
op:18.1182 -5.70109 1.08139
Scan Matching Failed, using odometry. Likelihood=-1200
lp:18.5471 -20.6458 -1.92343
op:18.1182 -5.70109 1.08139
Scan Matching Failed, using odometry. Likelihood=-1200
lp:18.5471 -20.6458 -1.92343
op:18.1182 -5.70109 1.08139
Scan Matching Failed, using odometry. Likelihood=-987.667
lp:18.5471 -20.6458 -1.92343
op:18.1182 -5.70109 1.08139
Scan Matching Failed, using odometry. Likelihood=-1200
lp:18.5471 -20.6458 -1.92343
op:18.1182 -5.70109 1.08139
Scan Matching Failed, using odometry. Likelihood=-257.575
lp:18.5471 -20.6458 -1.92343
op:18.1182 -5.70109 1.08139
Scan Matching Failed, using odometry. Likelihood=-1200
lp:18.5471 -20.6458 -1.92343
op:18.1182 -5.70109 1.08139
Scan Matching Failed, using odometry. Likelihood=-216.73
lp:18.5471 -20.6458 -1.92343
op:18.1182 -5.70109 1.08139
Scan Matching Failed, using odometry ...
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2021-07-15 23:16:51 -0500 answered a question Latching doesn't work in ROS2

Please set appropriate rate of publication. Currently it is 0.0001 which is too low. Set it to 1. It works. ros2 topic

2021-07-15 23:05:27 -0500 commented question can't visualize lego rom slam with vleodyne

Please check the static frame used for visualization. Is the robot moving, payload sensor (pointcloud) which you are try

2021-07-15 22:58:38 -0500 marked best answer Spatial_temporal_voxel_layer not being populated

Greetings , I am trying to setup the tutorial of Spatial Temporal Voxel Layer (STVL) from the offical website on ROS Foxy (installed using debs), Ubuntu 20.04. STVL is compiled from source (foxy-devel branch).

The costmap layer is not creating any obstacles based on the points read from the sensor. The following msgs are displayed on the console:
[controller_server-2] [WARN] [1626235911.078158591] [local_costmap.local_costmap]: intel_realsense_r200_depth/points buffer updated in 51.86s, it should be updated every 0.00s.
[controller_server-2] [WARN] [1626235911.078251423] [local_costmap.local_costmap]: intel_realsense_r200_depth/points buffer updated in 51.86s, it should be updated every 0.00s.
[planner_server-3] [WARN] [1626235911.085046724] [global_costmap.global_costmap]: intel_realsense_r200_depth/points buffer updated in 51.86s, it should be updated every 0.00s.
[planner_server-3] [WARN] [1626235911.085151591] [global_costmap.global_costmap]: intel_realsense_r200_depth/points buffer updated in 51.86s, it should be updated every 0.00s.

The params are as follows:

global_costmap:
  global_costmap:
    ros__parameters:
      use_sim_time: True
      footprint_padding: 0.03
      update_frequency: 1.0
      publish_frequency: 1.0
      origin_x: -5.0 # Otherwise the robot is lying outside the costmap
      origin_y: -5.0
      global_frame: map
      robot_base_frame: base_link
      robot_radius: 0.22 # radius set and used, so no footprint points
      resolution: 0.05
      width: 10
      height: 10
      plugins: ["inflation_layer", "vlp16_stv_layer", "static_layer"] #
      vlp16_stv_layer:
        plugin: "spatio_temporal_voxel_layer/SpatioTemporalVoxelLayer"
        enabled:                  true
        voxel_decay:              1.0  # seconds if linear, e^n if exponential
        decay_model:              0     # 0=linear, 1=exponential, -1=persistent
        voxel_size:               0.05  # meters
        track_unknown_space:      true  # default space is known
        max_obstacle_height:      2.5   # meters
        unknown_threshold:        15    # voxel height
        mark_threshold:           0     # voxel height
        update_footprint_enabled: true
        combination_method:       1     # 1=max, 0=override
        obstacle_range:           5.0   # meters
        origin_z:                 0.0   # meters
        publish_voxel_map:        false # default off
        transform_tolerance:      1.0   # seconds
        mapping_mode:             false # default off, saves map not for navigation
        map_save_duration:        60.0  # default 60s, how often to autosave
        observation_sources:      realsense
        realsense:
          data_type: PointCloud2
          topic: intel_realsense_r200_depth/points
          marking: true
          clearing: true
          min_obstacle_height: 0.2     # default 0, meters
          max_obstacle_height: 2.5     # default 3, meters
          expected_update_rate: 1.0    # default 0, if not updating at this rate at least, remove from buffer
          observation_persistence: 0.0 # default 0, use all measurements taken during now-value, 0=latest
          inf_is_valid: false          # default false, for laser scans
          voxel_filter: false          # default off, apply voxel filter to sensor, recommend on
          clear_after_reading: true    # default false, clear the buffer after the layer gets readings from it
      inflation_layer:
       plugin: "nav2_costmap_2d::InflationLayer"
       enabled: true
       inflation_radius: 0.55
       cost_scaling_factor: 1.0
       inflate_unknown: false
       inflate_around_unknown: true
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True  
      always_send_full_costmap: True

I am using identical params for local-costmap.

I am able to run simulation with 2D LiDAR but not with Realsense sensor.

EDIT 1: The echo of topic 'intel_realsense_r200_depth/points' is as follows:

header:
  stamp:
    sec: 32
    nanosec: 600000000
  frame_id: camera_depth_frame
height: 1
width: 76800
fields: '<sequence type: sensor_msgs/msg/PointField, length: 4>'
is_bigendian: false
point_step: 32
row_step: 2457600
data: '<sequence type: uint8, length: 2457600>'
is_dense: false

image description Given that height is read as 1, is sensor data correctly being published?

Am I missing something in settings? Thanks

2021-07-15 05:01:04 -0500 received badge  Rapid Responder (source)
2021-07-15 05:01:04 -0500 answered a question Spatial_temporal_voxel_layer not being populated

Issue is resolved by having the topic name with the starting / realsense: data_type: PointCloud2 topic: /intel_real

2021-07-14 01:11:05 -0500 edited question Spatial_temporal_voxel_layer not being populated

Spatial_temporal_voxel_layer not being populated Greetings , I am trying to setup the tutorial of Spatial Temporal Voxel

2021-07-14 01:08:05 -0500 edited question Spatial_temporal_voxel_layer not being populated

Spatial_temporal_voxel_layer not being populated Greetings , I am trying to setup the tutorial of Spatial Temporal Voxel

2021-07-13 23:20:02 -0500 edited question Spatial_temporal_voxel_layer not being populated

Spatial_temporal_voxel_layer not being populated Greetings , I am trying to setup the tutorial of Spatial Temporal Voxel

2021-07-13 23:19:35 -0500 edited question Spatial_temporal_voxel_layer not being populated

Spatial_temporal_voxel_layer not being populated Greetings , I am trying to setup the tutorial of Spatial Temporal Voxel

2021-07-13 23:19:05 -0500 edited question Spatial_temporal_voxel_layer not being populated

Spatial_temporal_voxel_layer not being populated Greetings , I am trying to setup the tutorial of Spatial Temporal Voxel

2021-07-13 23:18:17 -0500 asked a question Spatial_temporal_voxel_layer not being populated

Spatial_temporal_voxel_layer not being populated Greetings , I am trying to setup the tutorial of Spatial Temporal Voxel

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2021-07-08 03:54:15 -0500 commented question Running Turtlebot Navigation Stack on multiple floors

Which package are you currently running for transistions between floors/level specific navigation?

2021-07-08 03:53:22 -0500 commented answer Running Turtlebot Navigation Stack on multiple floors

You will need to move the robot to different floor in gazebo for update of the costmap. Please check whether the sensor

2021-07-08 03:51:02 -0500 commented answer Running Turtlebot Navigation Stack on multiple floors

You will need to move the robot to different floor in gazebo for update of the costmap.

2021-07-08 03:29:32 -0500 edited question compilation error Nav2 Galactic release

compilation error Nav2 Galactic release Greetings, I am compiling Nav2 (downloaded from official git with instructions

2021-07-08 03:27:59 -0500 edited question compilation error Nav2 Galactic release

compilation error Nav2 Galactic release Greetings, I am compiling Nav2 (downloaded from official git with instructions

2021-07-08 03:26:31 -0500 commented question compilation error Nav2 Galactic release

Yes, you are right. I have missed rosdep command. But not all dependencies are available as deb package. Probably the ga

2021-07-07 00:42:43 -0500 commented question Are messages sent once per node or once per subscriber?

In ROS1, connections are peer-to-peer. I believe, option 2 is definitely Yes. About Option 3, i am not sure of implement

2021-07-07 00:40:47 -0500 commented question Depend on package built in workspace

CMakeLists reads ok. Also 'rospack find package_b' command is also outputing correct path. Are you installing the resul

2021-07-07 00:32:40 -0500 asked a question compilation error Nav2 Galactic release

compilation error Nav2 Galactic release Greetings, I am compiling Nav2 (downloaded from official git with instructions

2021-05-23 05:57:53 -0500 marked best answer gmapping output very large 4000X4000?

hi,

We just ran Pioneer with ROS navigation stack with slam_gmapping node. The output of the map is 4000x4000 (appx. 15 MB) irrespective of size of environment explored.

If I try to use this map for sbpl_lattice_planner, it just waits for the map. I can visualize map in rviz. The map is grey (may be to refer to unknown area). But rviz & system hangs.

Is this behaviour because of big size of map?? I can not find which parameters to use to set map bounds? Any ideas?

Update 1: I tested it one other laptop. I may be because of hardware problem , not able to handle Rviz! is it possible with i5 processor? prince

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2021-03-19 15:01:20 -0500 marked best answer compilation error master branch navigation2

ROS Foxy, Ubuntu 20.04

I am failing to successfully compile the source code of Navigation2 master branch. The following errors are reported:

/home/user/code/nav2_ws/src/navigation2/nav2_util/include/nav2_util/lifecycle_node.hpp:25:10: fatal error: bondcpp/bond.hpp: No such file or directory
   25 | #include "bondcpp/bond.hpp"
      |          ^~~~~~~~~~~~~~~~~~

I have tried downloading and compiling ros2 branch of bond_core. But it also results in compilation error:

/home/user/code/nav2_ws/src/bond_core-ros2/bondcpp/src/bond.cpp:188:43: error: ‘from_nanoseconds’ is not a member of ‘rclcpp::Duration’
  188 |   rclcpp::Duration dur1(rclcpp::Duration::from_nanoseconds(connect_timeout_));

It appear that I am combining incompatible versions of the navigation2 stack with bond_core. Please share the correct configuration of nav2 library and dependencies.

Thanks a lot.

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2020-12-17 04:30:30 -0500 asked a question compilation error master branch navigation2

compilation error master branch navigation2 ROS Foxy, Ubuntu 20.04 I am failing to successfully compile the source code

2020-12-16 23:12:37 -0500 commented answer nav2: changing controller plugins manually during runtime

Is there any tutorial or sample package from which one can learn? Specifically for beginners of Nav2.

2020-12-14 05:39:13 -0500 edited question Turtlebot3 simulation on ROS2 Foxy, Ubuntu 20.4.1

Turtlebot3 simulation on ROS2 Foxy, Ubuntu 20.4.1 ROS Version: Foxy (installed from debs) Gazebo Version: 11 Ubuntu: 20

2020-12-14 05:27:00 -0500 edited question Turtlebot3 simulation on ROS2 Foxy, Ubuntu 20.4.1

Turtlebot3 simulation on ROS2 Foxy, Ubuntu 20.4.1 ROS Version: Foxy (installed from debs) Gazebo Version: 11 Ubuntu: 20

2020-12-14 05:09:04 -0500 asked a question Turtlebot3 simulation on ROS2 Foxy, Ubuntu 20.4.1

Turtlebot3 simulation on ROS2 Foxy, Ubuntu 20.4.1 ROS Version: Foxy (installed from debs) Gazebo Version: 11 Ubuntu: 20

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