Turtlebot3 Burger ROS2 Foxy SLAM 20210222 Notes and Logs
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February 22, 2021 slamFoxy20210222.txt eepp@sisters:~$ eepp@sisters:~$ eepp@sisters:~$ eepp@sisters:~$ eepp@sisters:~$ eepp@sisters:~$ eepp@sisters:~$ ros2 launch turtlebot3_cartographer cartographer.launch.py [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2021-02-22-12-40-17-423621-sisters-8642 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [cartographer_node-1]: process started with pid [8644] [INFO] [occupancy_grid_node-2]: process started with pid [8646] [INFO] [rviz2-3]: process started with pid [8648] [cartographer_node-1] [INFO] [1614026417.586000179] [cartographer_ros]: I0222 12:40:17.000000 8644 configuration_file_resolver.cc:41] Found '/home/eepp/turtlebot3_ws/install/turtlebot3_cartographer/share/turtlebot3_cartographer/config/turtlebot3_lds_2d.lua' for 'turtlebot3_lds_2d.lua'. [cartographer_node-1] [INFO] [1614026417.586514904] [cartographer_ros]: I0222 12:40:17.000000 8644 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-1] [INFO] [1614026417.586585746] [cartographer_ros]: I0222 12:40:17.000000 8644 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'. [cartographer_node-1] [INFO] [1614026417.586701697] [cartographer_ros]: I0222 12:40:17.000000 8644 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-1] [INFO] [1614026417.586739911] [cartographer_ros]: I0222 12:40:17.000000 8644 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'. [cartographer_node-1] [INFO] [1614026417.587003631] [cartographer_ros]: I0222 12:40:17.000000 8644 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-1] [INFO] [1614026417.587042796] [cartographer_ros]: I0222 12:40:17.000000 8644 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'. [cartographer_node-1] [INFO] [1614026417.587124821] [cartographer_ros]: I0222 12:40:17.000000 8644 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-1] [INFO] [1614026417.587159334] [cartographer_ros]: I0222 12:40:17.000000 8644 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'. [cartographer_node-1] [INFO] [1614026417.587358899] [cartographer_ros]: I0222 12:40:17.000000 8644 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-1] [INFO] [1614026417.587396194] [cartographer_ros]: I0222 12:40:17.000000 8644 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'. [cartographer_node-1] [INFO] [1614026417.618920960] [cartographer_ros]: I0222 12:40:17.000000 8644 submap_2d.cc:187] Added submap 1 [cartographer_node-1] [INFO] [1614026417.618994277] [cartographer_ros]: I0222 12:40:17.000000 8644 map_builder_bridge.cc:132] Added trajectory with ID '0'. [rviz2-3] [INFO] [1614026417.936935976] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] [INFO] [1614026417.937151346] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-3] [INFO] [1614026417.967455545] [rviz2]: Stereo is NOT SUPPORTED [cartographer_node-1] [INFO] [1614026417.971248945] [cartographer_ros]: I0222 12:40:17.000000 8644 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '637496232179418905'. [cartographer_node-1] [INFO] [1614026418.035348290] [cartographer_ros]: I0222 12:40:18.000000 8644 local_trajectory_builder_2d.cc:295] Extrapolator not yet initialized. [cartographer_node-1] [INFO] [1614026418.035426498] [cartographer_ros]: I0222 12:40:18.000000 8644 local_trajectory_builder_2d.cc:138] Extrapolator is still initializing. [rviz2-3] [INFO] [1614026418.565078096] [rviz2]: Trying to create a map of size 103 x 109 using 1 swatches [rviz2-3] [ERROR] [1614026418.570634799] [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 [rviz2-3] [INFO] [1614026422.564069318] [rviz2]: Trying to create a map of size 105 x 109 using 1 swatches [rviz2-3] [INFO] [1614026428.238064935] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1614026418.132 for reason 'Unknown' [cartographer_node-1] [INFO] [1614026432.638804657] [cartographer_ros]: I0222 12:40:32.000000 8644 collated_trajectory_builder.cc:72] odom rate: 19.85 Hz 5.04e-02 s +/- 4.13e-03 s (pulsed at 100.37% real time) [cartographer_node-1] [INFO] [1614026432.638872206] [cartographer_ros]: I0222 12:40:32.000000 8644 collated_trajectory_builder.cc:72] scan rate: 4.84 Hz 2.07e-01 s +/- 3.32e-02 s (pulsed at 100.21% real time) [rviz2-3] [INFO] [1614026435.588675435] [rviz2]: Trying to create a map of size 105 x 111 using 1 swatches [cartographer_node-1] [WARN] [1614026441.210746814] [cartographer_ros]: W0222 12:40:41.000000 8644 tf_bridge.cc:67] Lookup would require extrapolation into the future. Requested time 1614026440.825871 but the latest data is at time 1614026440.781150, when looking up transform from frame [odom] to frame [imu_link] [cartographer_node-1] [WARN] [1614026447.353643570] [cartographer_ros]: W0222 12:40:47.000000 8644 tf_bridge.cc:67] Lookup would require extrapolation into the future. Requested time 1614026446.243050 but the latest data is at time 1614026446.231362, when looking up transform from frame [odom] to frame [imu_link] [cartographer_node-1] [WARN] [1614026447.734348181] [cartographer_ros]: W0222 12:40:47.000000 8644 tf_bridge.cc:67] Lookup would require extrapolation into the future. Requested time 1614026447.448151 but the latest data is at time 1614026447.431394, when looking up transform from frame [odom] to frame [imu_link] [cartographer_node-1] [WARN] [1614026447.939072467] [cartographer_ros]: W0222 12:40:47.000000 8644 tf_bridge.cc:67] Lookup would require extrapolation into the future. Requested time 1614026447.448151 but the latest data is at time 1614026447.431394, when looking up transform from frame [odom] to frame [imu_link] [cartographer_node-1] [INFO] [1614026447.999155896] [cartographer_ros]: I0222 12:40:47.000000 8644 collated_trajectory_builder.cc:72] odom rate: 20.00 Hz 5.00e-02 s +/- 4.83e-05 s (pulsed at 97.86% real time) [cartographer_node-1] [INFO] [1614026447.999321333] [cartographer_ros]: I0222 12:40:47.000000 8644 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 6.32e-04 s (pulsed at 99.97% real time) [cartographer_node-1] [WARN] [1614026454.640295560] [cartographer_ros]: W0222 12:40:54.000000 8644 tf_bridge.cc:67] Lookup would require extrapolation into the future. Requested time 1614026454.270669 but the latest data is at time 1614026454.231248, when looking up transform from frame [odom] to frame [imu_link] [cartographer_node-1] [WARN] [1614026456.719327751] [cartographer_ros]: W0222 12:40:56.000000 8644 tf_bridge.cc:67] Lookup would require extrapolation into the future. Requested time 1614026456.478063 but the latest data is at time 1614026456.431154, when looking up transform from frame [odom] to frame [imu_link] [cartographer_node-1] [WARN] [1614026456.925459930] [cartographer_ros]: W0222 12:40:56.000000 8644 tf_bridge.cc:67] Lookup would require extrapolation into the future. Requested time 1614026456.478063 but the latest data is at time 1614026456.431154, when looking up transform from frame [odom] to frame [imu_link] [cartographer_node-1] [INFO] [1614026463.096408502] [cartographer_ros]: I0222 12:41:03.000000 8644 collated_trajectory_builder.cc:72] odom rate: 19.74 Hz 5.07e-02 s +/- 5.71e-03 s (pulsed at 103.25% real time) [cartographer_node-1] [INFO] [1614026463.096475043] [cartographer_ros]: I0222 12:41:03.000000 8644 collated_trajectory_builder.cc:72] scan rate: 4.92 Hz 2.03e-01 s +/- 2.32e-02 s (pulsed at 100.87% real time) [cartographer_node-1] [INFO] [1614026478.374884516] [cartographer_ros]: I0222 12:41:18.000000 8644 collated_trajectory_builder.cc:72] odom rate: 19.44 Hz 5.14e-02 s +/- 1.11e-02 s (pulsed at 98.03% real time) [cartographer_node-1] [INFO] [1614026478.374961897] [cartographer_ros]: I0222 12:41:18.000000 8644 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 6.44e-04 s (pulsed at 100.01% real time) [cartographer_node-1] [INFO] [1614026493.381399513] [cartographer_ros]: I0222 12:41:33.000000 8644 collated_trajectory_builder.cc:72] odom rate: 20.00 Hz 5.00e-02 s +/- 6.80e-05 s (pulsed at 100.34% real time) [cartographer_node-1] [INFO] [1614026493.381471911] [cartographer_ros]: I0222 12:41:33.000000 8644 collated_trajectory_builder.cc:72] scan rate: 4.92 Hz 2.03e-01 s +/- 2.30e-02 s (pulsed at 101.86% real time) [cartographer_node-1] [INFO] [1614026508.447701920] [cartographer_ros]: I0222 12:41:48.000000 8644 collated_trajectory_builder.cc:72] odom rate: 20.00 Hz 5.00e-02 s +/- 4.55e-05 s (pulsed at 100.12% real time) [cartographer_node-1] [INFO] [1614026508.447851830] [cartographer_ros]: I0222 12:41:48.000000 8644 collated_trajectory_builder.cc:72] scan rate: 4.92 Hz 2.03e-01 s +/- 2.32e-02 s (pulsed at 100.86% real time) [cartographer_node-1] [INFO] [1614026519.682045982] [cartographer_ros]: I0222 12:41:59.000000 8644 motion_filter.cc:42] Motion filter reduced the number of nodes to 11.8%. [cartographer_node-1] [INFO] [1614026523.546280174] [cartographer_ros]: I0222 12:42:03.000000 8644 collated_trajectory_builder.cc:72] odom rate: 19.93 Hz 5.02e-02 s +/- 2.90e-03 s (pulsed at 99.90% real time) [cartographer_node-1] [INFO] [1614026523.546487780] [cartographer_ros]: I0222 12:42:03.000000 8644 collated_trajectory_builder.cc:72] scan rate: 4.92 Hz 2.03e-01 s +/- 2.32e-02 s (pulsed at 99.59% real time) [cartographer_node-1] [INFO] [1614026538.580146714] [cartographer_ros]: I0222 12:42:18.000000 8644 collated_trajectory_builder.cc:72] odom rate: 20.00 Hz 5.00e-02 s +/- 4.85e-05 s (pulsed at 99.78% real time) [cartographer_node-1] [INFO] [1614026538.580229417] [cartographer_ros]: I0222 12:42:18.000000 8644 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 6.36e-04 s (pulsed at 99.80% real time) [cartographer_node-1] [INFO] [1614026554.096318154] [cartographer_ros]: I0222 12:42:34.000000 8644 collated_trajectory_builder.cc:72] odom rate: 20.00 Hz 5.00e-02 s +/- 5.69e-05 s (pulsed at 97.16% real time) [cartographer_node-1] [INFO] [1614026554.096396316] [cartographer_ros]: I0222 12:42:34.000000 8644 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 6.33e-04 s (pulsed at 99.43% real time) [cartographer_node-1] [WARN] [1614026560.482372392] [cartographer_ros]: W0222 12:42:40.000000 8644 tf_bridge.cc:67] Lookup would require extrapolation into the future. Requested time 1614026560.219920 but the latest data is at time 1614026560.180387, when looking up transform from frame [odom] to frame [imu_link] [cartographer_node-1] [WARN] [1614026562.272371535] [cartographer_ros]: W0222 12:42:42.000000 8644 tf_bridge.cc:67] Lookup would require extrapolation into the future. Requested time 1614026562.025024 but the latest data is at time 1614026561.980330, when looking up transform from frame [odom] to frame [imu_link] [cartographer_node-1] [WARN] [1614026563.260457480] [cartographer_ros]: W0222 12:42:43.000000 8644 tf_bridge.cc:67] Lookup would require extrapolation into the future. Requested time 1614026563.028696 but the latest data is at time 1614026562.980179, when looking up transform from frame [odom] to frame [imu_link] [cartographer_node-1] [INFO] [1614026569.238660611] [cartographer_ros]: I0222 12:42:49.000000 8644 collated_trajectory_builder.cc:72] odom rate: 20.00 Hz 5.00e-02 s +/- 5.15e-05 s (pulsed at 99.11% real time) [cartographer_node-1] [INFO] [1614026569.238724130] [cartographer_ros]: I0222 12:42:49.000000 8644 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 6.29e-04 s (pulsed at 102.97% real time) [cartographer_node-1] [INFO] [1614026584.347020668] [cartographer_ros]: I0222 12:43:04.000000 8644 collated_trajectory_builder.cc:72] odom rate: 19.93 Hz 5.02e-02 s +/- 2.91e-03 s (pulsed at 99.67% real time) [cartographer_node-1] [INFO] [1614026584.347120762] [cartographer_ros]: I0222 12:43:04.000000 8644 collated_trajectory_builder.cc:72] scan rate: 4.92 Hz 2.03e-01 s +/- 2.29e-02 s (pulsed at 100.57% real time) [cartographer_node-1] [INFO] [1614026599.753734222] [cartographer_ros]: I0222 12:43:19.000000 8644 collated_trajectory_builder.cc:72] odom rate: 19.29 Hz 5.18e-02 s +/- 1.48e-02 s (pulsed at 93.88% real time) [cartographer_node-1] [INFO] [1614026599.753843929] [cartographer_ros]: I0222 12:43:19.000000 8644 collated_trajectory_builder.cc:72] scan rate: 4.78 Hz 2.09e-01 s +/- 4.06e-02 s (pulsed at 99.63% real time) [cartographer_node-1] [INFO] [1614026603.065144052] [cartographer_ros]: I0222 12:43:23.000000 8644 submap_2d.cc:187] Added submap 2 [cartographer_node-1] [INFO] [1614026607.626253439] [cartographer_ros]: I0222 12:43:27.000000 8667 constraint_builder_2d.cc:281] 0 computations resulted in 0 additional constraints. [cartographer_node-1] [INFO] [1614026607.626313798] [cartographer_ros]: I0222 12:43:27.000000 8667 constraint_builder_2d.cc:283] Score histogram: [cartographer_node-1] Count: 0 [cartographer_node-1] [WARN] [1614026613.111742009] [cartographer_ros]: W0222 12:43:33.000000 8644 tf_bridge.cc:67] Lookup would require extrapolation into the future. Requested time 1614026612.792041 but the latest data is at time 1614026612.778996, when looking up transform from frame [odom] to frame [imu_link] [cartographer_node-1] [INFO] [1614026614.971221340] [cartographer_ros]: I0222 12:43:34.000000 8644 collated_trajectory_builder.cc:72] odom rate: 20.00 Hz 5.00e-02 s +/- 5.32e-05 s (pulsed at 107.44% real time) [cartographer_node-1] [INFO] [1614026614.971300420] [cartographer_ros]: I0222 12:43:34.000000 8644 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 6.31e-04 s (pulsed at 96.52% real time) [rviz2-3] [INFO] [1614026616.584453513] [rviz2]: Trying to create a map of size 105 x 112 using 1 swatches [cartographer_node-1] [INFO] [1614026621.329421466] [cartographer_ros]: I0222 12:43:41.000000 8644 motion_filter.cc:42] Motion filter reduced the number of nodes to 9.8%. [cartographer_node-1] [INFO] [1614026630.090084121] [cartographer_ros]: I0222 12:43:50.000000 8644 collated_trajectory_builder.cc:72] odom rate: 19.66 Hz 5.09e-02 s +/- 7.76e-03 s (pulsed at 99.57% real time) [cartographer_node-1] [INFO] [1614026630.090805053] [cartographer_ros]: I0222 12:43:50.000000 8644 collated_trajectory_builder.cc:72] scan rate: 4.98 Hz 2.01e-01 s +/- 6.38e-04 s (pulsed at 103.46% real time) [cartographer_node-1] [WARN] [1614026638.699424230] [cartographer_ros]: W0222 12:43:58.000000 8644 tf_bridge.cc:67] Lookup would require extrapolation into the future. Requested time 1614026638.076457 but the latest data is at time 1614026638.030053, when looking up transform from frame [odom] to frame [imu_link] [cartographer_node-1] [INFO] [1614026645.113854657] [cartographer_ros]: I0222 12:44:05.000000 8644 collated_trajectory_builder.cc:72] odom rate: 19.86 Hz 5.03e-02 s +/- 4.11e-03 s (pulsed at 100.16% real time) [cartographer_node-1] [INFO] [1614026645.113997875] [cartographer_ros]: I0222 12:44:05.000000 8644 collated_trajecto eepp@sisters:~$ ros2 run nav2_map_server map_saver_cli -f ~/study20210222 [INFO] [1614027456.497316657] [map_saver]: map_saver lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. [INFO] [1614027456.497468064] [map_saver]: Creating [INFO] [1614027456.497585911] [map_saver]: Saving map from 'map' topic to '/home/eepp/study20210222' file [WARN] [1614027456.497606924] [map_saver]: Free threshold unspecified. Setting it to default value: 0.250000 [WARN] [1614027456.497626484] [map_saver]: Occupied threshold unspecified. Setting it to default value: 0.650000 [WARN] [map_io]: Image format unspecified. Setting it to: pgm [INFO] [map_io]: Received a 137 X 147 map @ 0.05 m/pix [INFO] [map_io]: Writing map occupancy data to /home/eepp/study20210222.pgm [INFO] [map_io]: Writing map metadata to /home/eepp/study20210222.yaml [INFO] [map_io]: Map saved [INFO] [1614027457.322547780] [map_saver]: Map saved successfully [INFO] [1614027457.322676270] [map_saver]: Destroying eepp@sisters:~$ ll study202102* -rw-rw-r-- 1 eepp eepp 20291 Feb 16 10:50 study20210216a.pgm -rw-rw-r-- 1 eepp eepp 143 Feb 16 10:50 study20210216a.yaml -rw-rw-r-- 1 eepp eepp 20154 Feb 22 12:57 study20210222.pgm -rw-rw-r-- 1 eepp eepp 142 Feb 22 12:57 study20210222.yaml eepp@sisters:~$ eog study20210222.pgm & [5] 9503 eepp@sisters:~$
