Turtlebot3 Burger ROS 2 Dashing SLAM 20210201 Notes and Log

February 1, 2021
slam20210201.txt

Why is Cartographer giving me all this errors all of a sudden?????

eepp@sisters:~$ ros2 launch turtlebot3_cartographer cartographer.launch.py
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2021-02-01-14-39-18-602177-sisters-17083
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [cartographer_node-1]: process started with pid [17096]
[INFO] [occupancy_grid_node-2]: process started with pid [17097]
[INFO] [rviz2-3]: process started with pid [17098]
[cartographer_node-1] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-3] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-3] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[cartographer_node-1] [WARN] [cartographer_ros]: W0201 14:39:20.000000 17096 tf_bridge.cc:67] "imu_link" passed to lookupTransform argument target_frame does not exist. 
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[cartographer_node-1] [WARN] [cartographer_ros]: W0201 14:39:21.000000 17096 tf_bridge.cc:67] Lookup would require extrapolation at time 1612219161.02906, but only time 1612219160.33831 is in the buffer, when looking up transform from frame [odom] to frame [imu_link]
[cartographer_node-1] [WARN] [cartographer_ros]: W0201 14:39:21.000000 17096 tf_bridge.cc:67] Lookup would require extrapolation at time 1612219161.02906, but only time 1612219160.33831 is in the buffer, when looking up transform from frame [odom] to frame [imu_link]
[cartographer_node-1] [WARN] [cartographer_ros]: W0201 14:39:21.000000 17096 tf_bridge.cc:67] Lookup would require extrapolation at time 1612219161.02906, but only time 1612219160.33831 is in the buffer, when looking up transform from frame [odom] to frame [imu_link]
[cartographer_node-1] [WARN] [cartographer_ros]: W0201 14:39:21.000000 17096 tf_bridge.cc:67] Lookup would require extrapolation at time 1612219161.02906, but only time 1612219160.33831 is in the buffer, when looking up transform from frame [odom] to frame [imu_link]
[cartographer_node-1] [WARN] [cartographer_ros]: W0201 14:39:22.000000 17096 tf_bridge.cc:67] Lookup would require extrapolation at time 1612219161.02906, but only time 1612219160.33831 is in the buffer, when looking up transform from frame [odom] to frame [imu_link]
[cartographer_node-1] [WARN] [cartographer_ros]: W0201 14:39:22.000000 17096 tf_bridge.cc:67] Lookup would require extrapolation at time 1612219161.02906, but only time 1612219160.33831 is in the buffer, when looking up transform from frame [odom] to frame [imu_link]
[rviz2-3] [INFO] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [rviz2]: OpenGl version: 3 (GLSL 1.3)
[rviz2-3] [INFO] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[cartographer_node-1] [WARN] [cartographer_ros]: W0201 14:39:22.000000 17096 tf_bridge.cc:67] Lookup would require extrapolation at time 1612219161.02906, but only time 1612219160.33831 is in the buffer, when looking up transform from frame [odom] to frame [imu_link]
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
[cartographer_node-1] [WARN] [cartographer_ros]: W0201 14:39:22.000000 17096 tf_bridge.cc:67] Lookup would require extrapolation at time 1612219161.02906, but only time 1612219160.33831 is in the buffer, when looking up transform from frame [odom] to frame [imu_link]
[rviz2-3] Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
[rviz2-3]          at line 124 in /tmp/binarydeb/ros-dashing-tf2-0.11.6/src/buffer_core.cpp
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