no point cloud in RVIZ
Closed this issue · 1 comments
YXGuan commented
- OS Version: e.g. Ubuntu 20.04
- ROS Distro: [Noetic]
Hi there, I am a newbie setting up a turtlebot3, the lidar works but there was no point cloud in RVIZ and there were no error messages either. So I would really appreciate your help.
Below are the commands:
on laptop:
roscore
yuxiang@yuxiang:~$ rosrun rviz rviz -d `rospack find turtlebot3_description`/rviz/model.rviz
[ INFO] [1647194518.736690919]: rviz version 1.14.14
[ INFO] [1647194518.736766558]: compiled against Qt version 5.12.8
[ INFO] [1647194518.736790377]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1647194518.778046429]: Forcing OpenGl version 0.
[ INFO] [1647194518.967926089]: Stereo is NOT SUPPORTED
[ INFO] [1647194518.967988556]: OpenGL device: Mesa Intel(R) UHD Graphics (CML GT2)
[ INFO] [1647194518.968008862]: OpenGl version: 4.6 (GLSL 4.6) limited to GLSL 1.4 on Mesa system.
I also received this error message when executing " roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml "
[ WARN] [1647196301.311111289]: No laser scan received (and thus no pose updates have been published) for 1647196301.311065 seconds. Verify that data is being published on the /scan topic.
However, you can tell from the below ROS topic that /scan topic is working just fine:
yuxiang@yuxiang:~$ rostopic list -v
Published topics:
* /rosout_agg [rosgraph_msgs/Log] 1 publisher
* /rosout [rosgraph_msgs/Log] 5 publishers
* /diagnostics [diagnostic_msgs/DiagnosticArray] 2 publishers
* /version_info [turtlebot3_msgs/VersionInfo] 1 publisher
* /scan [sensor_msgs/LaserScan] 1 publisher
* /rpms [std_msgs/UInt16] 1 publisher
* /sensor_state [turtlebot3_msgs/SensorState] 1 publisher
* /firmware_version [turtlebot3_msgs/VersionInfo] 1 publisher
* /imu [sensor_msgs/Imu] 1 publisher
* /cmd_vel_rc100 [geometry_msgs/Twist] 1 publisher
* /odom [nav_msgs/Odometry] 1 publisher
* /joint_states [sensor_msgs/JointState] 1 publisher
* /battery_state [sensor_msgs/BatteryState] 1 publisher
* /magnetic_field [sensor_msgs/MagneticField] 1 publisher
* /tf [tf2_msgs/TFMessage] 2 publishers
* /tf_static [tf2_msgs/TFMessage] 1 publisher
* /initialpose [geometry_msgs/PoseWithCovarianceStamped] 1 publisher
* /move_base_simple/goal [geometry_msgs/PoseStamped] 1 publisher
* /clicked_point [geometry_msgs/PointStamped] 1 publisher
Subscribed topics:
* /rosout [rosgraph_msgs/Log] 1 subscriber
* /imu [sensor_msgs/Imu] 1 subscriber
* /scan [sensor_msgs/LaserScan] 2 subscribers
* /sensor_state [turtlebot3_msgs/SensorState] 1 subscriber
* /firmware_version [turtlebot3_msgs/VersionInfo] 1 subscriber
* /cmd_vel [geometry_msgs/Twist] 1 subscriber
* /sound [turtlebot3_msgs/Sound] 1 subscriber
* /motor_power [std_msgs/Bool] 1 subscriber
* /reset [std_msgs/Empty] 1 subscriber
* /joint_states [sensor_msgs/JointState] 1 subscriber
* /tf [tf2_msgs/TFMessage] 1 subscriber
* /tf_static [tf2_msgs/TFMessage] 1 subscriber
On Rpi (turtlebot)
ubuntu@ubuntu:~$ roslaunch turtlebot3_bringup turtlebot3_robot.launch
... logging to /home/ubuntu/.ros/log/0d2ab0ae-a2f6-11ec-8a33-e5b4ca0c84b0/roslaunch-ubuntu-2201.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.0.35:44559/
SUMMARY
========
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.15.11
* /turtlebot3_core/baud: 115200
* /turtlebot3_core/port: /dev/ttyACM0
* /turtlebot3_core/tf_prefix:
* /turtlebot3_lds/frame_id: base_scan
* /turtlebot3_lds/port: /dev/ttyUSB0
NODES
/
turtlebot3_core (rosserial_python/serial_node.py)
turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)
ROS_MASTER_URI=http://192.168.0.113:11311
process[turtlebot3_core-1]: started with pid [2215]
process[turtlebot3_lds-2]: started with pid [2216]
process[turtlebot3_diagnostics-3]: started with pid [2217]
[INFO] [1647193882.252366]: ROS Serial Python Node
[INFO] [1647193882.304433]: Connecting to /dev/ttyACM0 at 115200 baud
[INFO] [1647193884.426053]: Requesting topics...
[INFO] [1647193884.458783]: Note: publish buffer size is 1024 bytes
[INFO] [1647193884.471666]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]
[INFO] [1647193884.492314]: Setup publisher on firmware_version [turtlebot3_msgs/VersionInfo]
[INFO] [1647193884.569279]: Setup publisher on imu [sensor_msgs/Imu]
[INFO] [1647193884.584459]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]
[INFO] [1647193884.625106]: Setup publisher on odom [nav_msgs/Odometry]
[INFO] [1647193884.644411]: Setup publisher on joint_states [sensor_msgs/JointState]
[INFO] [1647193884.664312]: Setup publisher on battery_state [sensor_msgs/BatteryState]
[INFO] [1647193884.685419]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]
[INFO] [1647193884.758115]: Setup publisher on /tf [tf/tfMessage]
[INFO] [1647193884.790505]: Note: subscribe buffer size is 1024 bytes
[INFO] [1647193884.801146]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
[INFO] [1647193884.833735]: Setup subscriber on sound [turtlebot3_msgs/Sound]
[INFO] [1647193884.862379]: Setup subscriber on motor_power [std_msgs/Bool]
[INFO] [1647193884.893719]: Setup subscriber on reset [std_msgs/Empty]
[INFO] [1647193887.552330]: Setup TF on Odometry [odom]
[INFO] [1647193887.563159]: Setup TF on IMU [imu_link]
[INFO] [1647193887.573526]: Setup TF on MagneticField [mag_link]
[INFO] [1647193887.584157]: Setup TF on JointState [base_link]
[INFO] [1647193887.599044]: --------------------------
[INFO] [1647193887.609962]: Connected to OpenCR board!
[INFO] [1647193887.620240]: This core(v1.2.6) is compatible with TB3 Burger
[INFO] [1647193887.630881]: --------------------------
[INFO] [1647193887.641455]: Start Calibration of Gyro
[INFO] [1647193890.110545]: Calibration End
YXGuan commented
I was not reading the turtlebot menu carefully. The error has nothing to do with RVIZ.