Hood NUC TF Investigation 202012 Notes and Log

tf20201208.txt

12/08/20

tf

Transform
Could not transform from [base_scan] to [odom]

ros2 launch turtlebot3_bringup rviz2.launch.py


http://10.0.0.9/wiki/index.php/Setting_up_the_ROS_Transforms
from floor hugger

my question march 23, 2020
https://answers.ros.org/question/347362/rviz2launchpy-comes-up-with-missing-base_scan-to-odom-transfomations/

https://answers.ros.org/question/357762/slam_toolbox-message-filter-dropping-message/

-------------------------- Robotis doc

see
https://emanual.robotis.com/docs/en/platform/turtlebot3/bringup/

Dashing

startup log

$ 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)!


---------------


TODO
explore  turtlebot3_state_publisher.launch.py
         robot.launch.py
	 rviz2.launch.py
all in
eepp@hood:launch$ pwd
/home/eepp/turtlebot3_ws_2_1_0/src/turtlebot3/turtlebot3/turtlebot3_bringup/launch



eepp@hood:launch$ ls /opt/ros/dashing/bin/
ament_copyright                            pendulum_demo
ament_cppcheck                             pendulum_launch.bash
ament_cpplint                              pendulum_logger
ament_flake8                               pendulum_teleop
ament_lint_cmake                           ros2
ament_pep257                               _ros2_daemon
ament_uncrustify                           rqt
ament_xmllint                              rqt_graph
bt_log_cat                                 rqt_topic
bt_plugin_manifest                         rttest_plot
bt_recorder                                rviz2
cartographer_autogenerate_ground_truth     tlsf_allocator_example
cartographer_compute_relations_metrics     uncrustify
cartographer_migrate_serialization_format  urdf_mem_test
check_urdf                                 urdf_to_graphiz
launch_test



compare output in turtlebot3/bringup
log
to my log


bringup - different Link - mine has more
   mine had camera
   one more caster

also more got segment ...
   mine has camera and one more caster

correct number of topicseepp@hood:launch$ ros2 topic list
/parameter_events
/rosout
eepp@hood:launch$ rqt_graph 
[2]+  Done                    emacs robot.launch.py
eepp@hood:launch$ ros2 topic list
/battery_state
/cmd_vel
/imu
/joint_states
/magnetic_field
/odom
/parameter_events
/robot_description
/rosout
/scan
/sensor_state
/tf
/tf_static



eepp@hood:~$ ros2 node list
/launch_ros
/robot_state_publisher
/hlds_laser_publisher
/turtlebot3_node
/diff_drive_controller



eepp@hood:~$ ps -aux | grep turtlebot3_ros
eepp      7751  6.0  0.3 871328 59252 pts/1    Sl+  15:04   2:35 /home/eepp/turtlebot3_ws_2_1_0/install/turtlebot3_node/lib/turtlebot3_node/turtlebot3_ros -i /dev/ttyACM0 __params:=/home/eepp/turtlebot3_ws_2_1_0/install/turtlebot3_bringup/share/turtlebot3_bringup/param/waffle.yaml




eepp@hood:~$ ps -aux | grep laser_publisher
eepp      7750  2.6  0.1 492676 19180 pts/1    Sl+  15:04   4:13 /home/eepp/turtlebot3_ws_2_1_0/install/hls_lfcd_lds_driver/lib/hls_lfcd_lds_driver/hlds_laser_publisher __node:=hlds_laser_publisher __params:=/tmp/launch_params_iy0efdww



eepp@hood:~$ ps -aux | grep state_publisher
eepp      7749  0.6  0.1 521488 21004 pts/1    Sl+  15:04   1:07 /opt/ros/dashing/lib/robot_state_publisher/robot_state_publisher /home/eepp/turtlebot3_ws_2_1_0/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_waffle.urdf __node:=robot_state_publisher __params:=/tmp/launch_params_een1mth8
eepp      8227  0.0  0.0  14740  1160 pts/2    S+   17:49   0:00 grep --color=auto state_publisher