Hood NUC Navagation2 Test 202011 Notes and Log
From wikidb
Nav20201124.txt
11/24/20
eepp@hood:~$
eepp@hood:~$
eepp@hood:~$ ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=$HOME/maps/map2.yaml
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-11-24-11-58-06-398455-hood-28995
[INFO] [launch]: Default logging verbosity is set to INFO
.
.
.
[world_model-4] [INFO] [global_costmap.global_costmap]: Activating
[world_model-4] [INFO] [global_costmap.global_costmap]: Checking transform
[world_model-4] [INFO] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 212 X 250 at 0.050000 m/pix
[rviz2-9] [INFO] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-9] [INFO] [rviz2]: OpenGl version: 3 (GLSL 1.3)
[rviz2-9] [INFO] [rviz2]: Stereo is NOT SUPPORTED
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.00598 timeout was 1.
[amcl-3] [WARN] [amcl]: Waiting for map....
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.00822 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.00822 timeout was 1.
[amcl-3] [WARN] [amcl]: Waiting for map....
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.008 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform retu
https://community.husarion.com/t/transform-from-base-link-to-map-source-frame-baselink-does-not-exist/889
Transform from base_link to map source frame baselink does not exist
cd src/turtlebot3/turtlebot3/turtlebot3_description/urdf
eepp@hood:urdf$ ls
common_properties.urdf turtlebot3_waffle_pi.urdf
turtlebot3_burger.urdf turtlebot3_waffle.urdf
http://10.0.0.9/wiki/index.php/URDF_Representation_of_Floor_Hugger
https://index.ros.org/doc/ros2/Tutorials/URDF/Using-URDF-with-Robot-State-Publisher/
urdf_to_graphiz turtlebot3_waffle.urdf
create gv and pdf file
gv - Postscript and PDF viewer
http://manpages.ubuntu.com/manpages/bionic/man1/gv.1.html
eepp@hood:urdf$
eepp@hood:urdf$ sudo apt install gv
[sudo] password for eepp:
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following packages were automatically installed and are no longer required:
efibootmgr libfwup1 libllvm9
Use 'sudo apt autoremove' to remove them.
The following additional packages will be installed:
xaw3dg
The following NEW packages will be installed:
gv xaw3dg
0 upgraded, 2 newly installed, 0 to remove and 12 not upgraded.
Need to get 351 kB of archives.
After this operation, 1,110 kB of additional disk space will be used.
Do you want to continue? [Y/n] Y
Get:1 http://us.archive.ubuntu.com/ubuntu bionic/universe amd64 xaw3dg amd64 1.5+E-18.3 [149 kB]
Get:2 http://us.archive.ubuntu.com/ubuntu bionic/universe amd64 gv amd64 1:3.7.4-1build1 [203 kB]
Fetched 351 kB in 1s (349 kB/s)
Selecting previously unselected package xaw3dg:amd64.
(Reading database ... 266435 files and directories currently installed.)
Preparing to unpack .../xaw3dg_1.5+E-18.3_amd64.deb ...
Unpacking xaw3dg:amd64 (1.5+E-18.3) ...
Selecting previously unselected package gv.
Preparing to unpack .../gv_1%3a3.7.4-1build1_amd64.deb ...
Unpacking gv (1:3.7.4-1build1) ...
Setting up xaw3dg:amd64 (1.5+E-18.3) ...
Setting up gv (1:3.7.4-1build1) ...
Processing triggers for gnome-menus (3.13.3-11ubuntu1.1) ...
Processing triggers for mime-support (3.60ubuntu1) ...
Processing triggers for desktop-file-utils (0.23-1ubuntu3.18.04.2) ...
Processing triggers for install-info (6.5.0.dfsg.1-2) ...
Processing triggers for man-db (2.8.3-2ubuntu0.1) ...
Processing triggers for libc-bin (2.27-3ubuntu1.3) ...
eepp@hood:urdf$
eepp@hood:urdf$
eepp@hood:urdf$ gv turtlebot3_waffle.pdf
Warning: Cannot convert string "-*-Helvetica-Medium-R-Normal--*-140-*-*-P-*-ISO8859-1" to type FontStruct
Warning: Cannot convert string "-*-Helvetica-Medium-R-Normal--*-120-*-*-P-*-ISO8859-1" to type FontStruct
Warning: Cannot convert string "-*-Helvetica-Medium-R-Normal--*-100-*-*-P-*-ISO8859-1" to type FontStruct
Warning: Cannot convert string "-*-Helvetica-Bold-R-Normal--*-120-*-*-P-*-ISO8859-1" to type FontStruct
eepp@hood:urdf$
eepp@hood:urdf$
eepp@hood:urdf$
How do you load urdf files in rviz2 with ROS2?
https://answers.ros.org/question/354371/how-do-you-load-urdf-files-in-rviz2-with-ros2/
tryed something in
/home/eepp/eepp_ws/src/turtlebot3/turtlebot3/turtlebot3_cartographer/launch
transform from base_link to map
https://github.com/ROBOTIS-GIT/turtlebot3/issues/195
TurtleBot not mapping properly #195
ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=$HOME/maps/map2.yaml
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-11-24-11-58-06-398455-hood-28995
[INFO] [launch]: Default logging verbosity is set to INFO
.
.
.
[world_model-4] [INFO] [global_costmap.global_costmap]: Activating
[world_model-4] [INFO] [global_costmap.global_costmap]: Checking transform
[world_model-4] [INFO] [global_costmap.global_costmap]: StaticLayer: Resizing costmap to 212 X 250 at 0.050000 m/pix
[rviz2-9] [INFO] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-9] [INFO] [rviz2]: OpenGl version: 3 (GLSL 1.3)
[rviz2-9] [INFO] [rviz2]: Stereo is NOT SUPPORTED
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.00598 timeout was 1.
[amcl-3] [WARN] [amcl]: Waiting for map....
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.00822 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.00822 timeout was 1.
[amcl-3] [WARN] [amcl]: Waiting for map....
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform returned after 1.008 timeout was 1.
[world_model-4] [INFO] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: . canTransform retu
https://community.husarion.com/t/transform-from-base-link-to-map-source-frame-baselink-does-not-exist/889
Transform from base_link to map source frame baselink does not exist
cd src/turtlebot3/turtlebot3/turtlebot3_description/urdf
eepp@hood:urdf$ ls
common_properties.urdf turtlebot3_waffle_pi.urdf
turtlebot3_burger.urdf turtlebot3_waffle.urdf
http://10.0.0.9/wiki/index.php/URDF_Representation_of_Floor_Hugger
https://index.ros.org/doc/ros2/Tutorials/URDF/Using-URDF-with-Robot-State-Publisher/
urdf_to_graphiz turtlebot3_waffle.urdf
create gv and pdf file
gv - Postscript and PDF viewer
http://manpages.ubuntu.com/manpages/bionic/man1/gv.1.html
eepp@hood:urdf$
eepp@hood:urdf$ sudo apt install gv
[sudo] password for eepp:
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following packages were automatically installed and are no longer required:
efibootmgr libfwup1 libllvm9
Use 'sudo apt autoremove' to remove them.
The following additional packages will be installed:
xaw3dg
The following NEW packages will be installed:
gv xaw3dg
0 upgraded, 2 newly installed, 0 to remove and 12 not upgraded.
Need to get 351 kB of archives.
After this operation, 1,110 kB of additional disk space will be used.
Do you want to continue? [Y/n] Y
Get:1 http://us.archive.ubuntu.com/ubuntu bionic/universe amd64 xaw3dg amd64 1.5+E-18.3 [149 kB]
Get:2 http://us.archive.ubuntu.com/ubuntu bionic/universe amd64 gv amd64 1:3.7.4-1build1 [203 kB]
Fetched 351 kB in 1s (349 kB/s)
Selecting previously unselected package xaw3dg:amd64.
(Reading database ... 266435 files and directories currently installed.)
Preparing to unpack .../xaw3dg_1.5+E-18.3_amd64.deb ...
Unpacking xaw3dg:amd64 (1.5+E-18.3) ...
Selecting previously unselected package gv.
Preparing to unpack .../gv_1%3a3.7.4-1build1_amd64.deb ...
Unpacking gv (1:3.7.4-1build1) ...
Setting up xaw3dg:amd64 (1.5+E-18.3) ...
Setting up gv (1:3.7.4-1build1) ...
Processing triggers for gnome-menus (3.13.3-11ubuntu1.1) ...
Processing triggers for mime-support (3.60ubuntu1) ...
Processing triggers for desktop-file-utils (0.23-1ubuntu3.18.04.2) ...
Processing triggers for install-info (6.5.0.dfsg.1-2) ...
Processing triggers for man-db (2.8.3-2ubuntu0.1) ...
Processing triggers for libc-bin (2.27-3ubuntu1.3) ...
eepp@hood:urdf$
eepp@hood:urdf$
eepp@hood:urdf$ gv turtlebot3_waffle.pdf
Warning: Cannot convert string "-*-Helvetica-Medium-R-Normal--*-140-*-*-P-*-ISO8859-1" to type FontStruct
Warning: Cannot convert string "-*-Helvetica-Medium-R-Normal--*-120-*-*-P-*-ISO8859-1" to type FontStruct
Warning: Cannot convert string "-*-Helvetica-Medium-R-Normal--*-100-*-*-P-*-ISO8859-1" to type FontStruct
Warning: Cannot convert string "-*-Helvetica-Bold-R-Normal--*-120-*-*-P-*-ISO8859-1" to type FontStruct
eepp@hood:urdf$
eepp@hood:urdf$
eepp@hood:urdf$
How do you load urdf files in rviz2 with ROS2?
https://answers.ros.org/question/354371/how-do-you-load-urdf-files-in-rviz2-with-ros2/
tryed something in
/home/eepp/eepp_ws/src/turtlebot3/turtlebot3/turtlebot3_cartographer/launch
transform from base_link to map
https://github.com/ROBOTIS-GIT/turtlebot3/issues/195
TurtleBot not mapping properly #195
----- this did something interesting
look at this in the emancual 3.5 bringup
eepp@hood:launch$ pwd
/home/eepp/turtlebot3_ws_2_1_0/src/turtlebot3/turtlebot3/turtlebot3_bringup/launch
eepp@hood:launch$ ls
robot.launch.py rviz2.launch.py turtlebot3_state_publisher.launch.py
eepp@hood:launch$
eepp@hood:~$ ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=$HOME/maps/map2.yaml
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-11-24-11-58-06-398455-hood-28995
[INFO] [launch]: Default logging verbosity is set to INFO
eepp@hood:launch$ ros2 run tf2_ros static_transform_publisher 1 2 3 0.5 0.1 -1.0 map odom &
[1] 5986
eepp@hood:launch$ ros2 run tf2_ros static_transform_publisher 1 2 3 0.5 0.1 -1.0 odom base_footprint &
[2] 5997
eepp@hood:launch$ [INFO] []: LOOPING due to no latching at the moment
[INFO] []: LOOPING due to no latching at the moment
[INFO] []: LOOPING due to no latching at the moment
[INFO] []: LOOPING due to no latching at the moment
choose "Add" button lower left and the TF
------------------
found turtlebot3_lds_2d.lua in
turtlebot3_ws_2_1_0/src/turtlebot3/turtlebot3/turtlebot3_cartographer/config
see
https://en.wikipedia.org/wiki/Lua_(programming_language)
https://www.ros.org/news/2010/08/ros-client-library-for-lua.html
https://google-cartographer-ros.readthedocs.io/en/latest/configuration.html
---------------------- investigate pi image
https://emanual.robotis.com/docs/en/platform/turtlebot3/ros2_setup/
1.2.2 Download and Install Ubuntu Image File
http://old-releases.ubuntu.com/releases/18.04.3/
eepp@hood:raspi$ mv ~/Downloads/ubuntu-18.04-preinstalled-server-armhf+raspi2.img.xz .
eepp@hood:raspi$ ls
ubuntu-18.04-preinstalled-server-armhf+raspi2.img.xz
eepp@hood:raspi$ xz -d -v ubuntu-18.04-preinstalled-server-armhf+raspi2.img.xz
ubuntu-18.04-preinstalled-server-armhf+raspi2.img.xz (1/1)
100 % 295.8 MiB / 2,252.0 MiB = 0.131 69 MiB/s 0:32
ls
ubuntu-18.04-preinstalled-server-armhf+raspi2.img
https://askubuntu.com/questions/500549/how-to-run-gnome-disk-utility
How to run Gnome disk utility
eepp@hood:raspi$ gnome-disk-image-mounter
Gtk-Message: 13:31:00.023: GtkDialog mapped without a transient parent. This is discouraged.
eepp@hood:raspi$ ls /m
navigated to ~/raspi and open the file
eepp@hood:raspi$ ls /media/eepp/
cloudimg-rootfs system-boot
eepp@hood:raspi$ ll /media/eepp/
total 28
drwxr-x---+ 4 root root 4096 Nov 25 13:31 ./
drwxr-xr-x 3 root root 4096 Aug 7 10:42 ../
drwxr-xr-x 22 root root 4096 Apr 26 2018 cloudimg-rootfs/
drwxr-xr-x 2 eepp eepp 16384 Dec 31 1969 system-boot/
eepp@hood:raspi$ cd /media/eepp/cloudimg-rootfs/
eepp@hood:cloudimg-rootfs$ ls
April 26 matches the date on the download site for the xz
so I must have mounted it
-------------------
Bringup TurtleBot3
Open a new terminal from PC with Ctrl + Alt + T and connect to Raspberry Pi with its IP address.
The default password is ubuntu.
$ ssh ubuntu@{IP_ADDRESS_OF_RASPBERRY_PI}
Bring up basic packages to start TurtleBot3 applications. Replace the ${TB3_MODEL} parameter with your model name such as burger, waffle, waffle_pi.
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ ros2 launch turtlebot3_bringup robot.launch.py
If the TurtleBot3 model is burger as below, the terminal will print below messages.
$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_bringup robot.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2019-08-19-01-24-19-009803-ubuntu-15310
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_burger.urdf
[INFO] [robot_state_publisher-1]: process started with pid [15320]
[INFO] [hlds_laser_publisher-2]: process started with pid [15321]
[INFO] [turtlebot3_ros-3]: process started with pid [15322]
[robot_state_publisher-1] Initialize urdf model from file: /home/ubuntu/turtlebot_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_link had 5 children
[robot_state_publisher-1] Link caster_back_link had 0 children
[robot_state_publisher-1] Link imu_link had 0 children
[robot_state_publisher-1] Link base_scan had 0 children
[robot_state_publisher-1] Link wheel_left_link had 0 children
[robot_state_publisher-1] Link wheel_right_link had 0 children
[robot_state_publisher-1] got segment base_footprint
[robot_state_publisher-1] got segment base_link
[robot_state_publisher-1] got segment base_scan
[robot_state_publisher-1] got segment caster_back_link
[robot_state_publisher-1] got segment imu_link
[robot_state_publisher-1] got segment wheel_left_link
[robot_state_publisher-1] got segment wheel_right_link
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init DynamixelSDKWrapper
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)!
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to change the baudrate!
[robot_state_publisher-1] Adding fixed segment from base_footprint to base_link
[robot_state_publisher-1] Adding fixed segment from base_link to caster_back_link
[robot_state_publisher-1] Adding fixed segment from base_link to imu_link
[robot_state_publisher-1] Adding fixed segment from base_link to base_scan
[robot_state_publisher-1] Adding moving segment from base_link to wheel_left_link
[robot_state_publisher-1] Adding moving segment from base_link to wheel_right_link
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Start Calibration of Gyro
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Calibration End
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Motors
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Wheels
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Sensors
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create battery state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create imu publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sensor state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create joint state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Devices
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create motor power server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create reset server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sound server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Run!
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Init Odometry
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Run!
where does turtlebot3_state_publisher.launch.py get started
