Sisters Make a Map 20240819
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epp@sisters:~$ ssh -X 10.0.0.222 The authenticity of host '10.0.0.222 (10.0.0.222)' can't be established. ED25519 key fingerprint is SHA256:kjeCKMjvi0zrRvlOhfZCmp0HTI4j92rX5WbzTXmPSUE. This key is not known by any other names Are you sure you want to continue connecting (yes/no/[fingerprint])? yes Warning: Permanently added '10.0.0.222' (ED25519) to the list of known hosts. eepp@10.0.0.222's password: Welcome to Ubuntu 22.04.4 LTS (GNU/Linux 6.8.0-40-generic x86_64) * Documentation: https://help.ubuntu.com * Management: https://landscape.canonical.com * Support: https://ubuntu.com/pro Expanded Security Maintenance for Applications is not enabled. 2 updates can be applied immediately. To see these additional updates run: apt list --upgradable 35 additional security updates can be applied with ESM Apps. Learn more about enabling ESM Apps service at https://ubuntu.com/esm Last login: Mon Aug 19 12:51:50 2024 from 10.0.0.159 -bash: //: Is a directory -bash: //: Is a directory eepp@adams:~$ source scripts/bringup.sh [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-08-19-13-21-18-290183-adams-1992 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_waffle.urdf [INFO] [robot_state_publisher-1]: process started with pid [1993] [INFO] [hlds_laser_publisher-2]: process started with pid [1995] [INFO] [turtlebot3_ros-3]: process started with pid [1997] [hlds_laser_publisher-2] [INFO] [1724098878.411751615] [hlds_laser_publisher]: Init hlds_laser_publisher Node Main [hlds_laser_publisher-2] [INFO] [1724098878.411817427] [hlds_laser_publisher]: port : /dev/ttyUSB0 frame_id : base_scan [turtlebot3_ros-3] [INFO] [1724098878.412110460] [turtlebot3_node]: Init TurtleBot3 Node Main [turtlebot3_ros-3] [INFO] [1724098878.412231334] [turtlebot3_node]: Init DynamixelSDKWrapper TERMINAL 2 pp@sisters:~$ ssh -X 10.0.0.222 The authenticity of host '10.0.0.222 (10.0.0.222)' can't be established. ED25519 key fingerprint is SHA256:kjeCKMjvi0zrRvlOhfZCmp0HTI4j92rX5WbzTXmPSUE. This key is not known by any other names Are you sure you want to continue connecting (yes/no/[fingerprint])? yes Warning: Permanently added '10.0.0.222' (ED25519) to the list of known hosts. eepp@10.0.0.222's password: Welcome to Ubuntu 22.04.4 LTS (GNU/Linux 6.8.0-40-generic x86_64) * Documentation: https://help.ubuntu.com * Management: https://landscape.canonical.com * Support: https://ubuntu.com/pro Expanded Security Maintenance for Applications is not enabled. 2 updates can be applied immediately. To see these additional updates run: apt list --upgradable 35 additional security updates can be applied with ESM Apps. Learn more about enabling ESM Apps service at https://ubuntu.com/esm Last login: Mon Aug 19 12:51:50 2024 from 10.0.0.159 -bash: //: Is a directory -bash: //: Is a directory eepp@adams:~$ source scripts/bringup.sh [ eepp@adams:~$ eepp@adams:~$ eepp@adams:~$ source scripts/make_map.sh [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-08-19-14-06-50-393328-adams-5805 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [cartographer_node-1]: process started with pid [5806] [INFO] [cartographer_occupancy_grid_node-2]: process started with pid [5808] [INFO] [rviz2-3]: process started with pid [5810] [cartographer_node-1] [INFO] [1724101610.519528353] [cartographer logger]: I0819 14:06:50.000000 5806 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/turtlebot3_cartographer/config/turtlebot3_lds_2d.lua' for 'turtlebot3_lds_2d.lua'. [cartographer_node-1] [INFO] [1724101610.519716252] [cartographer logger]: I0819 14:06:50.000000 5806 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-1] [INFO] [1724101610.519731087] [cartographer logger]: I0819 14:06:50.000000 5806 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-1] [INFO] [1724101610.519756463] [cartographer logger]: I0819 14:06:50.000000 5806 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-1] [INFO] [1724101610.519765462] [cartographer logger]: I0819 14:06:50.000000 5806 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-1] [INFO] [1724101610.519841146] [cartographer logger]: I0819 14:06:50.000000 5806 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-1] [INFO] [1724101610.519850850] [cartographer logger]: I0819 14:06:50.000000 5806 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-1] [INFO] [1724101610.519870670] [cartographer logger]: I0819 14:06:50.000000 5806 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-1] [INFO] [1724101610.519879445] [cartographer logger]: I0819 14:06:50.000000 5806 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-1] [INFO] [1724101610.519950727] [cartographer logger]: I0819 14:06:50.000000 5806 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-1] [INFO] [1724101610.519960455] [cartographer logger]: I0819 14:06:50.000000 5806 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-1] [INFO] [1724101610.528422917] [cartographer logger]: I0819 14:06:50.000000 5806 map_builder_bridge.cpp:136] Added trajectory with ID '0'. [cartographer_node-1] [INFO] [1724101610.564117082] [cartographer logger]: I0819 14:06:50.000000 5806 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '638596984107642537'. [cartographer_node-1] [INFO] [1724101610.796742374] [cartographer logger]: I0819 14:06:50.000000 5806 local_trajectory_builder_2d.cc:312] Extrapolator not yet initialized. [cartographer_node-1] [INFO] [1724101610.796907280] [cartographer logger]: I0819 14:06:50.000000 5806 local_trajectory_builder_2d.cc:135] Extrapolator is still initializing. [cartographer_node-1] [WARN] [1724101610.997330223] [cartographer logger]: W0819 14:06:50.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [INFO] [1724101610.999005880] [cartographer logger]: I0819 14:06:50.000000 5806 pose_graph_2d.cc:148] Inserted submap (0, 0). [cartographer_node-1] [WARN] [1724101611.196895595] [cartographer logger]: W0819 14:06:51.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101611.397008119] [cartographer logger]: W0819 14:06:51.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [rviz2-3] [INFO] [1724101611.940087422] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] [INFO] [1724101611.940199084] [rviz2]: OpenGl version: 4.5 (GLSL 4.5) [cartographer_node-1] [WARN] [1724101611.996818766] [cartographer logger]: W0819 14:06:51.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [rviz2-3] [INFO] [1724101612.301282704] [rviz2]: Stereo is NOT SUPPORTED [cartographer_node-1] [WARN] [1724101612.396746935] [cartographer logger]: W0819 14:06:52.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [rviz2-3] [WARN] [1724101612.519982791] [rviz2]: New publisher discovered on topic '/scan', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY [cartographer_node-1] [WARN] [1724101612.596370347] [cartographer logger]: W0819 14:06:52.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101612.797051210] [cartographer logger]: W0819 14:06:52.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101613.197148854] [cartographer logger]: W0819 14:06:53.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101613.397109291] [cartographer logger]: W0819 14:06:53.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101613.596899301] [cartographer logger]: W0819 14:06:53.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101613.797101074] [cartographer logger]: W0819 14:06:53.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101613.997087318] [cartographer logger]: W0819 14:06:53.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [rviz2-3] [INFO] [1724101614.008059102] [rviz2]: Trying to create a map of size 80 x 78 using 1 swatches [cartographer_node-1] [WARN] [1724101614.197059963] [cartographer logger]: W0819 14:06:54.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101614.397085652] [cartographer logger]: W0819 14:06:54.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [rviz2-3] [ERROR] [1724101614.475328483] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result : [rviz2-3] active samplers with a different type refer to the same texture image unit [cartographer_node-1] [WARN] [1724101614.797031523] [cartographer logger]: W0819 14:06:54.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101614.996931989] [cartographer logger]: W0819 14:06:54.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101615.197034373] [cartographer logger]: W0819 14:06:55.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101615.397943734] [cartographer logger]: W0819 14:06:55.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101615.597207230] [cartographer logger]: W0819 14:06:55.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101616.397193370] [cartographer logger]: W0819 14:06:56.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101616.597148050] [cartographer logger]: W0819 14:06:56.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101616.797093313] [cartographer logger]: W0819 14:06:56.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101616.997142605] [cartographer logger]: W0819 14:06:56.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101617.397219286] [cartographer logger]: W0819 14:06:57.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101617.797113463] [cartographer logger]: W0819 14:06:57.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101617.996972113] [cartographer logger]: W0819 14:06:57.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101618.200080454] [cartographer logger]: W0819 14:06:58.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101618.997268730] [cartographer logger]: W0819 14:06:58.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101619.198295888] [cartographer logger]: W0819 14:06:59.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101619.397040398] [cartographer logger]: W0819 14:06:59.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. [cartographer_node-1] [WARN] [1724101619.597105237] [cartographer logger]: W0819 14:06:59.000000 5806 range_data_collator.cc:82] Dropped 1 earlier points. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [cartographer_node-1] [INFO] [1724101619.709267036] [rclcpp]: signal_handler(signum=2) [rviz2-3] [INFO] [1724101619.709279520] [rclcpp]: signal_handler(signum=2) [cartographer_occupancy_grid_node-2] [INFO] [1724101619.709333941] [rclcpp]: signal_handler(signum=2) [cartographer_node-1] [INFO] [1724101619.711721861] [cartographer logger]: I0819 14:06:59.000000 5806 node.cpp:569] Shutdown the subscriber of [scan] [cartographer_node-1] [INFO] [1724101619.712689994] [cartographer logger]: I0819 14:06:59.000000 5806 node.cpp:569] Shutdown the subscriber of [odom] [cartographer_node-1] [INFO] [1724101619.712729678] [cartographer logger]: I0819 14:06:59.000000 5806 map_builder_bridge.cpp:152] Finishing trajectory with ID '0'... [cartographer_node-1] [WARN] [1724101619.718739620] [cartographer logger]: W0819 14:06:59.000000 5806 node.cpp:773] Can't run final optimization if there are one or more active trajectories. Trying to finish trajectory with ID 0 now. [cartographer_node-1] [INFO] [1724101619.718804005] [cartographer logger]: I0819 14:06:59.000000 5832 pose_graph_2d.cc:538] Remaining work items in queue: 0 [cartographer_node-1] [INFO] [1724101619.718846200] [cartographer logger]: I0819 14:06:59.000000 5806 node.cpp:551] Trajectory 0 already pending to finish. [cartographer_node-1] [INFO] [1724101619.718876190] [cartographer logger]: I0819 14:06:59.000000 5832 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-1] [INFO] [1724101619.718902193] [cartographer logger]: I0819 14:06:59.000000 5806 map_builder_bridge.cpp:161] Running final trajectory optimization... [cartographer_node-1] [INFO] [1724101619.718926592] [cartographer logger]: I0819 14:06:59.000000 5832 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-1] Count: 0 [cartographer_node-1] [INFO] [1724101619.720794433] [cartographer logger]: I0819 14:06:59.000000 5832 pose_graph_2d.cc:538] Remaining work items in queue: 1 [cartographer_node-1] [INFO] [1724101619.720846968] [cartographer logger]: I0819 14:06:59.000000 5832 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-1] [INFO] [1724101619.720863661] [cartographer logger]: I0819 14:06:59.000000 5832 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-1] Count: 0 [cartographer_node-1] [INFO] [1724101619.721916690] [cartographer logger]: I0819 14:06:59.000000 5834 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-1] [INFO] [1724101619.721957498] [cartographer logger]: I0819 14:06:59.000000 5834 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-1] Count: 0 Optimizing: Done. [cartographer_node-1] [INFO] [1724101619.726683245] [cartographer logger]: I0819 14:06:59.000000 5833 constraint_builder_2d.cc:290] 0 computations resulted in 0 additional constraints. [cartographer_node-1] [INFO] [1724101619.726715729] [cartographer logger]: I0819 14:06:59.000000 5833 constraint_builder_2d.cc:292] Score histogram: [cartographer_node-1] Count: 0 Optimizing: Done. [INFO] [cartographer_occupancy_grid_node-2]: process has finished cleanly [pid 5808] [INFO] [cartographer_node-1]: process has finished cleanly [pid 5806] [ERROR] [rviz2-3]: process has died [pid 5810, exit code -11, cmd '/opt/ros/humble/lib/rviz2/rviz2 -d /opt/ros/humble/share/turtlebot3_cartographer/rviz/tb3_cartographer.rviz --ros-args -r __node:=rviz2 --params-file /tmp/launch_params_ywps0x7c']. eepp@adams:~$
