Hood NUC Navigation 202006
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Contents
References
- Navigation Section 5.1 "Run Navigation Nodes" "Dashing" tab.
- Navigation Section 5.3 "Tuning Guide".
- Depreciated: Turtlebot3 ROS 2 Setup Section 16.1.3 Install ROS 2 Dependent Packages
$ sudo apt install ros-dashing-navigation2 $ sudo apt install ros-dashing-nav2-bringup
Terminal 1
$ ros2 launch turtlebot3_bringup robot.launch.py
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-07-01-13-32-58-362970-hood-21649
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_waffle.urdf
[INFO] [robot_state_publisher-1]: process started with pid [21659]
[INFO] [hlds_laser_publisher-2]: process started with pid [21660]
[INFO] [turtlebot3_ros-3]: process started with pid [21661]
[robot_state_publisher-1] Initialize urdf model from file: /home/eepp/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_waffle.urdf
...
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Run!
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Init Odometry
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Run!
Terminal 2
Check for map from previous mapping run.
$ cd
$ cat maps/map2.yaml
image: /home/eepp/maps/map2.pgm
mode: trinary
resolution: 0.05
origin: [-6.21, -2.02, 0]
negate: 0
occupied_thresh: 0.65
$ echo $TB3_MODEL
$ echo $TURTLEBOT3_MODEL
waffle
$ 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/2020-07-01-13-33-16-863158-hood-21685
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [lifecycle_manager-1]: process started with pid [21695]
[INFO] [map_server-2]: process started with pid [21696]
[INFO] [amcl-3]: process started with pid [21697]
[INFO] [world_model-4]: process started with pid [21698]
[INFO] [dwb_controller-5]: process started with pid [21699]
[INFO] [navfn_planner-6]: process started with pid [21700]
[INFO] [recoveries_node-7]: process started with pid [21703]
[INFO] [bt_navigator-8]: process started with pid [21714]
[INFO] [rviz2-9]: process started with pid [21723]
...
[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
Error Investigation
- Test 1: setting TB3_MODEL did not help - didn't think it would
Transform From base_link To map
- Error 1: base_link to map problem. See log above.
- TurtleBot not mapping properly #195
Fixed Frame[map] Does Not Exist
- Error 2: Fixed Frame Frame[map] does not exist. See Rviz screenshot below
yaml file
Check out src/turtlebot3/turtlebot3/turtlebot3_navigation2/param/waffle.yaml
Log
- Hood NUC Navagation2 Install 202003 Notes and Log
- Hood NUC TF Investigation 202012 Notes and Log
- Depreciate: Hood NUC Navagation2 First Test 202007 Notes and Log
- Hood NUC Navagation2 Test 202011 Notes and Log
Screenshots
