Hood NUC RVIZ 202012

TBD

• Error 1
• Error 2

Bringup

Note: Script files are described in Hood_NUC_and_Sisters_Remote_Run_Cartographer_202006

Terminal 1

 $ bringup.sh
     [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-12-17-13-47-48-352846-hood-5310
     [INFO] [launch]: Default logging verbosity is set to INFO
     [INFO] [rviz2-1]: process started with pid [5320]
     [rviz2-1] Parsing robot urdf xml string.
     ...
     [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!

Terminal 2

 $ ros2 launch  turtlebot3_bringup rviz2.launch.py 
     [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-12-19-10-02-34-299659-hood-24378
     [INFO] [launch]: Default logging verbosity is set to INFO
     [INFO] [rviz2-1]: process started with pid [24388]
     [rviz2-1] Parsing robot urdf xml string.
     [rviz2-1] [ERROR] [rviz2]: "odom" passed to lookupTransform argument target_frame does not exist. 
     [rviz2-1] [ERROR] [rviz2]: Lookup would require extrapolation at time 1608400963.24669, but only time 1608400962.53517 is in the buffer, when looking up transform from frame [base_scan] to frame [odom]
     [rviz2-1] [ERROR] [rviz2]: Lookup would require extrapolation at time 1608400963.44736, but only time 1608400962.53517 is in the buffer, when looking up transform from frame [base_scan] to frame [odom]
     [rviz2-1] [ERROR] [rviz2]: Lookup would require extrapolation into the future.  Requested time 1608400963.64805 but the latest data is at time 1608400962.58517, when looking up transform from frame [base_scan] to frame [odom]

Error 1: no transform from [base_scan] to [odom]. Laser Scan is not displayed. See screenshot below. Why didn't the 12/17/20 log file show no transform error but my test today did???

Terminal 3

 $ keyteleop.sh 

     Control Your TurtleBot3!
     ---------------------------
     Moving around:
             w
        a    s    d
             x

      w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
      a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)

     space key, s : force stop

     CTRL-C to quit
     ...

Error 2: TB3 moves forward on the screen with w command. It will not turn with the 'd' command even though the wheels turn as if it should. See screenshot below.

Debugging

Test 1

Why, why, why

 $ diff turtlebot3_ws/src/turtlebot3/turtlebot3/turtlebot3_bringup/launch/rviz2.launch.py turtlebot3_ws_2_1_0/src/turtlebot3/turtlebot3/turtlebot3_bringup/launch/rviz2.launch.py 
     28,30c28,30
     <             get_package_share_directory('turtlebot3_description'),
     <             'rviz',
     <             'model.rviz')
     ---
     >         get_package_share_directory('turtlebot3_description'),
     >         'rviz',
     >         'model.rviz')

Log

• Hood NUC Rviz Test 202012 Notes and Log

Screenshots