ROBOTIS-GIT/turtlebot3

No tf data. Actual error: Frame [map] does not exist

PhilShaw852 opened this issue · 3 comments

PhilShaw852 commented

ISSUE TEMPLATE ver. 0.4.0

  1. Which TurtleBot3 platform do you use?

    • [*] Burger
    • Waffle
    • Waffle Pi

  2. Which ROS is working with TurtleBot3?

    • ROS 1 Kinetic Kame
    • ROS 1 Melodic Morenia
    • ROS 1 Noetic Ninjemys
    • ROS 2 Dashing Diademata
    • ROS 2 Eloquent Elusor
    • [* ] ROS 2 Foxy Fitzroy
    • etc (Please specify your ROS Version here)

  3. Which SBC(Single Board Computer) is working on TurtleBot3?

    • Intel Joule 570x
    • Raspberry Pi 3B+
    • [*] Raspberry Pi 4
    • etc (Please specify your SBC here)

  4. Which OS you installed on SBC?

    • [*] Raspbian distributed by ROBOTIS
    • Ubuntu MATE (16.04/18.04/20.04)
    • Ubuntu preinstalled server (18.04/20.04)
    • etc (Please specify your OS here)

  5. Which OS you installed on Remote PC?

    • Ubuntu 16.04 LTS (Xenial Xerus)
    • Ubuntu 18.04 LTS (Bionic Beaver)
    • [*] Ubuntu 20.04 LTS (Focal Fossa)
    • Windows 10
    • MAC OS X (Specify version)
    • etc (Please specify your OS here)

  6. Specify the software and firmware version(Can be found from Bringup messages)

    • Software version: [x.x.x]
    • Firmware version: [x.x.x]

  7. Specify the commands or instructions to reproduce the issue.

    Start bringup, start cartographer, start teleop.

  8. Copy and Paste the error messages on terminal.

    ros2 launch turtlebot3_cartographer cartographer.launch.py
    [INFO] [launch]: All log files can be found below /home/ps/.ros/log/2023-09-20-08-37-55-125186-ps-29820
    [INFO] [launch]: Default logging verbosity is set to INFO
    /opt/ros/foxy/share/turtlebot3_cartographer/launch/cartographer.launch.py:56: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
    Node(
    /opt/ros/foxy/share/turtlebot3_cartographer/launch/cartographer.launch.py:56: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead
    Node(
    /opt/ros/foxy/share/turtlebot3_cartographer/launch/cartographer.launch.py:81: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
    Node(
    /opt/ros/foxy/share/turtlebot3_cartographer/launch/cartographer.launch.py:81: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead
    Node(
    /opt/ros/foxy/share/turtlebot3_cartographer/launch/occupancy_grid.launch.py:44: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead
    Node(
    /opt/ros/foxy/share/turtlebot3_cartographer/launch/occupancy_grid.launch.py:44: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead
    Node(
    [INFO] [cartographer_node-1]: process started with pid [29822]
    [INFO] [occupancy_grid_node-2]: process started with pid [29824]
    [INFO] [rviz2-3]: process started with pid [29826]
    [cartographer_node-1] [INFO] [1695199075.179755584] [cartographer_ros]: I0920 08:37:55.000000 29822 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/turtlebot3_cartographer/config/turtlebot3_lds_2d.lua' for 'turtlebot3_lds_2d.lua'.
    [cartographer_node-1] [INFO] [1695199075.179911466] [cartographer_ros]: I0920 08:37:55.000000 29822 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
    [cartographer_node-1] [INFO] [1695199075.179923134] [cartographer_ros]: I0920 08:37:55.000000 29822 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
    [cartographer_node-1] [INFO] [1695199075.179950093] [cartographer_ros]: I0920 08:37:55.000000 29822 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
    [cartographer_node-1] [INFO] [1695199075.179958760] [cartographer_ros]: I0920 08:37:55.000000 29822 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
    [cartographer_node-1] [INFO] [1695199075.180029888] [cartographer_ros]: I0920 08:37:55.000000 29822 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
    [cartographer_node-1] [INFO] [1695199075.180038222] [cartographer_ros]: I0920 08:37:55.000000 29822 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
    [cartographer_node-1] [INFO] [1695199075.180058723] [cartographer_ros]: I0920 08:37:55.000000 29822 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
    [cartographer_node-1] [INFO] [1695199075.180065973] [cartographer_ros]: I0920 08:37:55.000000 29822 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
    [cartographer_node-1] [INFO] [1695199075.180116100] [cartographer_ros]: I0920 08:37:55.000000 29822 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
    [cartographer_node-1] [INFO] [1695199075.180124309] [cartographer_ros]: I0920 08:37:55.000000 29822 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
    [cartographer_node-1] [INFO] [1695199075.193969217] [cartographer_ros]: I0920 08:37:55.000000 29822 submap_2d.cc:187] Added submap 1
    [cartographer_node-1] [INFO] [1695199075.194008927] [cartographer_ros]: I0920 08:37:55.000000 29822 map_builder_bridge.cc:132] Added trajectory with ID '0'.
    [rviz2-3] [INFO] [1695199075.654255319] [rviz2]: Stereo is NOT SUPPORTED
    [rviz2-3] [INFO] [1695199075.654443494] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
    [rviz2-3] [INFO] [1695199075.922276784] [rviz2]: Stereo is NOT SUPPORTED
    [occupancy_grid_node-2] [WARN] [1695199076.184104318] [occupancy_grid_node]: submap_slices and last_frame_id is empty
    [occupancy_grid_node-2] [WARN] [1695199077.184655693] [occupancy_grid_node]: submap_slices and last_frame_id is empty
    [occupancy_grid_node-2] [WARN] [1695199078.185316341] [occupancy_grid_node]: submap_slices and last_frame_id is empty

  9. Please describe the issue in detail.

Map is not generated by RViz. All installation is as per the instrutions, this was a clean VM.

<img width="510" alt="image" src="https://github.com/ROBOTIS-GIT/turtlebot3/assets/105040268/a370faa0-297b-466d-8b11-7282c4c03722">
PhilShaw852 commented

I have since installed and tested with the simulator without issue, but still cannot get a slam feed from the robot.