gmapping errors

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gmapping errors

Rishi Bedi
Hi,
I'm trying to run the gmapping package, following the tutorial here:
http://www.ros.org/wiki/slam_gmapping/Tutorials/MappingFromLoggedData
.
I'm getting errors at a few points along the way, however -- when I
try to record my own bagfile from my Pioneer 2 (which I am
teleoperating using a joystick), I repeatedly get this error:
"[FATAL] [WallTime: 1279638142.894919030]: rosrecord::Record: could
not write to file.  Check permissions and diskspace" My diskspace is
definitely enough -- what permissions is it alluding to?

I then tried just using the bagfile linked to in the tutorial, but
gmapping outputs the following, repeatedly: "[ WARN] [WallTime:
1279638187.366396181]: TF_OLD_DATA ignoring data from the past for
frame /base_link at time 126.2 according to authority
/play_1279638095646529424". Using rosbag play to play the bagfile
appears to be working, but it shows this:
"RUNNING]  Bag Time:     35.500164   Duration: 0.900164 /
1239670987.745222   " <-- it's counting by 1/10, so that looks too
big... it would take a while to count to that!

Thanks,
Rishi

Rishi Bedi
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Re: gmapping errors

Brian Gerkey-2
hi Rishi,

I just ran through that tutorial, downloading the linked bag, and it
works fine for me.  Did you set the use_sim_time parameter (step 4)
before starting gmapping (step 5)?

        brian.

On Tue, Jul 20, 2010 at 8:08 AM, Rishi Bedi <[hidden email]> wrote:

> Hi,
> I'm trying to run the gmapping package, following the tutorial here:
> http://www.ros.org/wiki/slam_gmapping/Tutorials/MappingFromLoggedData
> .
> I'm getting errors at a few points along the way, however -- when I
> try to record my own bagfile from my Pioneer 2 (which I am
> teleoperating using a joystick), I repeatedly get this error:
> "[FATAL] [WallTime: 1279638142.894919030]: rosrecord::Record: could
> not write to file.  Check permissions and diskspace" My diskspace is
> definitely enough -- what permissions is it alluding to?
>
> I then tried just using the bagfile linked to in the tutorial, but
> gmapping outputs the following, repeatedly: "[ WARN] [WallTime:
> 1279638187.366396181]: TF_OLD_DATA ignoring data from the past for
> frame /base_link at time 126.2 according to authority
> /play_1279638095646529424". Using rosbag play to play the bagfile
> appears to be working, but it shows this:
> "RUNNING]  Bag Time:     35.500164   Duration: 0.900164 /
> 1239670987.745222   " <-- it's counting by 1/10, so that looks too
> big... it would take a while to count to that!
>
> Thanks,
> Rishi
>
> Rishi Bedi
> [hidden email]
> _______________________________________________
> ros-users mailing list
> [hidden email]
> https://code.ros.org/mailman/listinfo/ros-users
>
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Re: gmapping errors

Rishi Bedi
Ya, I did that.
It may have something to do with the p2os_teleop package that I am
using -- could they be interfering? I installed the teleop package
after gmapping worked for me last Friday... so that's probably it...
any ideas on interference between the two?
Thanks
Rishi


Rishi Bedi
[hidden email]



On Tue, Jul 20, 2010 at 12:30 PM, Brian Gerkey <[hidden email]> wrote:

> hi Rishi,
>
> I just ran through that tutorial, downloading the linked bag, and it
> works fine for me.  Did you set the use_sim_time parameter (step 4)
> before starting gmapping (step 5)?
>
>        brian.
>
> On Tue, Jul 20, 2010 at 8:08 AM, Rishi Bedi <[hidden email]> wrote:
>> Hi,
>> I'm trying to run the gmapping package, following the tutorial here:
>> http://www.ros.org/wiki/slam_gmapping/Tutorials/MappingFromLoggedData
>> .
>> I'm getting errors at a few points along the way, however -- when I
>> try to record my own bagfile from my Pioneer 2 (which I am
>> teleoperating using a joystick), I repeatedly get this error:
>> "[FATAL] [WallTime: 1279638142.894919030]: rosrecord::Record: could
>> not write to file.  Check permissions and diskspace" My diskspace is
>> definitely enough -- what permissions is it alluding to?
>>
>> I then tried just using the bagfile linked to in the tutorial, but
>> gmapping outputs the following, repeatedly: "[ WARN] [WallTime:
>> 1279638187.366396181]: TF_OLD_DATA ignoring data from the past for
>> frame /base_link at time 126.2 according to authority
>> /play_1279638095646529424". Using rosbag play to play the bagfile
>> appears to be working, but it shows this:
>> "RUNNING]  Bag Time:     35.500164   Duration: 0.900164 /
>> 1239670987.745222   " <-- it's counting by 1/10, so that looks too
>> big... it would take a while to count to that!
>>
>> Thanks,
>> Rishi
>>
>> Rishi Bedi
>> [hidden email]
>> _______________________________________________
>> ros-users mailing list
>> [hidden email]
>> https://code.ros.org/mailman/listinfo/ros-users
>>
> _______________________________________________
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Re: gmapping errors

David Feil-Seifer
p2os_teleop should not interfere with writing to a bagfile. Make sure
that you have write permissions for the directory where the bagfile
will be written, (this is not always the current directory, sometimes
it is /opt/ros/ros or ~/ros/ros whereever the ros installation was
done).

On Tue, Jul 20, 2010 at 10:32 AM, Rishi Bedi <[hidden email]> wrote:

> Ya, I did that.
> It may have something to do with the p2os_teleop package that I am
> using -- could they be interfering? I installed the teleop package
> after gmapping worked for me last Friday... so that's probably it...
> any ideas on interference between the two?
> Thanks
> Rishi
>
>
> Rishi Bedi
> [hidden email]
>
>
>
> On Tue, Jul 20, 2010 at 12:30 PM, Brian Gerkey <[hidden email]> wrote:
>> hi Rishi,
>>
>> I just ran through that tutorial, downloading the linked bag, and it
>> works fine for me.  Did you set the use_sim_time parameter (step 4)
>> before starting gmapping (step 5)?
>>
>>        brian.
>>
>> On Tue, Jul 20, 2010 at 8:08 AM, Rishi Bedi <[hidden email]> wrote:
>>> Hi,
>>> I'm trying to run the gmapping package, following the tutorial here:
>>> http://www.ros.org/wiki/slam_gmapping/Tutorials/MappingFromLoggedData
>>> .
>>> I'm getting errors at a few points along the way, however -- when I
>>> try to record my own bagfile from my Pioneer 2 (which I am
>>> teleoperating using a joystick), I repeatedly get this error:
>>> "[FATAL] [WallTime: 1279638142.894919030]: rosrecord::Record: could
>>> not write to file.  Check permissions and diskspace" My diskspace is
>>> definitely enough -- what permissions is it alluding to?
>>>
>>> I then tried just using the bagfile linked to in the tutorial, but
>>> gmapping outputs the following, repeatedly: "[ WARN] [WallTime:
>>> 1279638187.366396181]: TF_OLD_DATA ignoring data from the past for
>>> frame /base_link at time 126.2 according to authority
>>> /play_1279638095646529424". Using rosbag play to play the bagfile
>>> appears to be working, but it shows this:
>>> "RUNNING]  Bag Time:     35.500164   Duration: 0.900164 /
>>> 1239670987.745222   " <-- it's counting by 1/10, so that looks too
>>> big... it would take a while to count to that!
>>>
>>> Thanks,
>>> Rishi
>>>
>>> Rishi Bedi
>>> [hidden email]
>>> _______________________________________________
>>> ros-users mailing list
>>> [hidden email]
>>> https://code.ros.org/mailman/listinfo/ros-users
>>>
>> _______________________________________________
>> ros-users mailing list
>> [hidden email]
>> https://code.ros.org/mailman/listinfo/ros-users
>>
> _______________________________________________
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> [hidden email]
> https://code.ros.org/mailman/listinfo/ros-users
>
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Re: gmapping errors

Rishi Bedi
Thanks for your help -- writing to a bagfile works now --- I set it to
record right into my home directory to take care of any permissions
problems.
I still can't get gmapping to generate a map from a bagfile, though.
That too worked last week, before p2os_teleop. Now, when I run "rosbag
play <filename>" in conjunction with "rosrun gmapping slam_gmapping
scan:=scan" (or base_scan, if I'm using the downloaded bag file), this
error message is repeatedly displayed:

"[ WARN] [WallTime: 1279722421.991972640]:
TF_OLD_DATA ignoring data from the past for frame /base_link at time
1.27972e+09 according to authority /play_1279722419677246299
Possible reasons are listed at " <-- it doesn't display where these
possible reasons are listed.

Thanks again,
Rishi

Rishi Bedi
[hidden email]



On Tue, Jul 20, 2010 at 1:36 PM, David Feil-Seifer
<[hidden email]> wrote:

> p2os_teleop should not interfere with writing to a bagfile. Make sure
> that you have write permissions for the directory where the bagfile
> will be written, (this is not always the current directory, sometimes
> it is /opt/ros/ros or ~/ros/ros whereever the ros installation was
> done).
>
> On Tue, Jul 20, 2010 at 10:32 AM, Rishi Bedi <[hidden email]> wrote:
>> Ya, I did that.
>> It may have something to do with the p2os_teleop package that I am
>> using -- could they be interfering? I installed the teleop package
>> after gmapping worked for me last Friday... so that's probably it...
>> any ideas on interference between the two?
>> Thanks
>> Rishi
>>
>>
>> Rishi Bedi
>> [hidden email]
>>
>>
>>
>> On Tue, Jul 20, 2010 at 12:30 PM, Brian Gerkey <[hidden email]> wrote:
>>> hi Rishi,
>>>
>>> I just ran through that tutorial, downloading the linked bag, and it
>>> works fine for me.  Did you set the use_sim_time parameter (step 4)
>>> before starting gmapping (step 5)?
>>>
>>>        brian.
>>>
>>> On Tue, Jul 20, 2010 at 8:08 AM, Rishi Bedi <[hidden email]> wrote:
>>>> Hi,
>>>> I'm trying to run the gmapping package, following the tutorial here:
>>>> http://www.ros.org/wiki/slam_gmapping/Tutorials/MappingFromLoggedData
>>>> .
>>>> I'm getting errors at a few points along the way, however -- when I
>>>> try to record my own bagfile from my Pioneer 2 (which I am
>>>> teleoperating using a joystick), I repeatedly get this error:
>>>> "[FATAL] [WallTime: 1279638142.894919030]: rosrecord::Record: could
>>>> not write to file.  Check permissions and diskspace" My diskspace is
>>>> definitely enough -- what permissions is it alluding to?
>>>>
>>>> I then tried just using the bagfile linked to in the tutorial, but
>>>> gmapping outputs the following, repeatedly: "[ WARN] [WallTime:
>>>> 1279638187.366396181]: TF_OLD_DATA ignoring data from the past for
>>>> frame /base_link at time 126.2 according to authority
>>>> /play_1279638095646529424". Using rosbag play to play the bagfile
>>>> appears to be working, but it shows this:
>>>> "RUNNING]  Bag Time:     35.500164   Duration: 0.900164 /
>>>> 1239670987.745222   " <-- it's counting by 1/10, so that looks too
>>>> big... it would take a while to count to that!
>>>>
>>>> Thanks,
>>>> Rishi
>>>>
>>>> Rishi Bedi
>>>> [hidden email]
>>>> _______________________________________________
>>>> ros-users mailing list
>>>> [hidden email]
>>>> https://code.ros.org/mailman/listinfo/ros-users
>>>>
>>> _______________________________________________
>>> ros-users mailing list
>>> [hidden email]
>>> https://code.ros.org/mailman/listinfo/ros-users
>>>
>> _______________________________________________
>> ros-users mailing list
>> [hidden email]
>> https://code.ros.org/mailman/listinfo/ros-users
>>
> _______________________________________________
> ros-users mailing list
> [hidden email]
> https://code.ros.org/mailman/listinfo/ros-users
>
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Re: gmapping errors

Rishi Bedi
Okay-- it turns out that gmapping cannot run at the same time as
p2os_driver -- it's not the installation of other packages that was a
problem, but rather, running them simultaneously.
So, now, with p2os nodes killed, gmapping works with the test data
set. (basic_localization_stage.bag). Now, however, I've recorded a
bagfile of my robot (using rosbag record /scan /tf), and I tried to
run gmapping with that -- gmapping outputs nothing, in this case. When
I 'rosbag play' the test bagfile, the gmapping node outputs messages,
saying it is receiving data -- but it doesn't do so with my generated
bagfile (and to confirm that nothing is happening, rosrun map_server
map_saver outputs nothing).

Thx,
Rishi


Rishi Bedi
[hidden email]



On Wed, Jul 21, 2010 at 10:30 AM, Rishi Bedi <[hidden email]> wrote:

> Thanks for your help -- writing to a bagfile works now --- I set it to
> record right into my home directory to take care of any permissions
> problems.
> I still can't get gmapping to generate a map from a bagfile, though.
> That too worked last week, before p2os_teleop. Now, when I run "rosbag
> play <filename>" in conjunction with "rosrun gmapping slam_gmapping
> scan:=scan" (or base_scan, if I'm using the downloaded bag file), this
> error message is repeatedly displayed:
>
> "[ WARN] [WallTime: 1279722421.991972640]:
> TF_OLD_DATA ignoring data from the past for frame /base_link at time
> 1.27972e+09 according to authority /play_1279722419677246299
> Possible reasons are listed at " <-- it doesn't display where these
> possible reasons are listed.
>
> Thanks again,
> Rishi
>
> Rishi Bedi
> [hidden email]
>
>
>
> On Tue, Jul 20, 2010 at 1:36 PM, David Feil-Seifer
> <[hidden email]> wrote:
>> p2os_teleop should not interfere with writing to a bagfile. Make sure
>> that you have write permissions for the directory where the bagfile
>> will be written, (this is not always the current directory, sometimes
>> it is /opt/ros/ros or ~/ros/ros whereever the ros installation was
>> done).
>>
>> On Tue, Jul 20, 2010 at 10:32 AM, Rishi Bedi <[hidden email]> wrote:
>>> Ya, I did that.
>>> It may have something to do with the p2os_teleop package that I am
>>> using -- could they be interfering? I installed the teleop package
>>> after gmapping worked for me last Friday... so that's probably it...
>>> any ideas on interference between the two?
>>> Thanks
>>> Rishi
>>>
>>>
>>> Rishi Bedi
>>> [hidden email]
>>>
>>>
>>>
>>> On Tue, Jul 20, 2010 at 12:30 PM, Brian Gerkey <[hidden email]> wrote:
>>>> hi Rishi,
>>>>
>>>> I just ran through that tutorial, downloading the linked bag, and it
>>>> works fine for me.  Did you set the use_sim_time parameter (step 4)
>>>> before starting gmapping (step 5)?
>>>>
>>>>        brian.
>>>>
>>>> On Tue, Jul 20, 2010 at 8:08 AM, Rishi Bedi <[hidden email]> wrote:
>>>>> Hi,
>>>>> I'm trying to run the gmapping package, following the tutorial here:
>>>>> http://www.ros.org/wiki/slam_gmapping/Tutorials/MappingFromLoggedData
>>>>> .
>>>>> I'm getting errors at a few points along the way, however -- when I
>>>>> try to record my own bagfile from my Pioneer 2 (which I am
>>>>> teleoperating using a joystick), I repeatedly get this error:
>>>>> "[FATAL] [WallTime: 1279638142.894919030]: rosrecord::Record: could
>>>>> not write to file.  Check permissions and diskspace" My diskspace is
>>>>> definitely enough -- what permissions is it alluding to?
>>>>>
>>>>> I then tried just using the bagfile linked to in the tutorial, but
>>>>> gmapping outputs the following, repeatedly: "[ WARN] [WallTime:
>>>>> 1279638187.366396181]: TF_OLD_DATA ignoring data from the past for
>>>>> frame /base_link at time 126.2 according to authority
>>>>> /play_1279638095646529424". Using rosbag play to play the bagfile
>>>>> appears to be working, but it shows this:
>>>>> "RUNNING]  Bag Time:     35.500164   Duration: 0.900164 /
>>>>> 1239670987.745222   " <-- it's counting by 1/10, so that looks too
>>>>> big... it would take a while to count to that!
>>>>>
>>>>> Thanks,
>>>>> Rishi
>>>>>
>>>>> Rishi Bedi
>>>>> [hidden email]
>>>>> _______________________________________________
>>>>> ros-users mailing list
>>>>> [hidden email]
>>>>> https://code.ros.org/mailman/listinfo/ros-users
>>>>>
>>>> _______________________________________________
>>>> ros-users mailing list
>>>> [hidden email]
>>>> https://code.ros.org/mailman/listinfo/ros-users
>>>>
>>> _______________________________________________
>>> ros-users mailing list
>>> [hidden email]
>>> https://code.ros.org/mailman/listinfo/ros-users
>>>
>> _______________________________________________
>> ros-users mailing list
>> [hidden email]
>> https://code.ros.org/mailman/listinfo/ros-users
>>
>
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Re: gmapping errors

nitinDhiman
Hi Rishi,
Then does that mean we cannot do concurrent mapping with currently ROS packages. For pioneer, I heavily relying on p2os drivers.

Has any one tried concurrent localisation and mapping? May be using some other setup??

Thank you,
Nitin
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Re: gmapping errors

William Woodall
I can't think of any reason why gmapping could not run concurrently with the p2os driver.  All that the gmapping slam node needs is published laser scans and correct TF data.  I have not used the p2os, but I would think it gives this information already, if the gmapping system isn't working correctly then I would look at the laser topic and the transforms to make sure that they are publishing the correct data.  Specifically make sure your transforms are setup correctly.  Judging from your error: "...TF_OLD_DATA ignoring data from the past for frame /base_link at time..." I would say that there is something wrong with the transformations you have setup.

Hope that helps,

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
William Woodall
Graduate Software Engineering
Auburn University
[hidden email]
[hidden email]
256-345-9938
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


On Wed, Jul 21, 2010 at 10:41 PM, nitinDhiman <[hidden email]> wrote:

Hi Rishi,
Then does that mean we cannot do concurrent mapping with currently ROS
packages. For pioneer, I heavily relying on p2os drivers.

Has any one tried concurrent localisation and mapping? May be using some
other setup??

Thank you,
Nitin
--
View this message in context: http://ros-users.122217.n3.nabble.com/gmapping-errors-tp981480p986050.html
Sent from the ROS-Users mailing list archive at Nabble.com.

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Re: gmapping errors

David Feil-Seifer
We at USC have been using P2OS concurrently with gmapping for months
now, so I know that it CAN work. Let me help you debug this problem in
more detail. Can you do me a favor and send me a link to that bag file
that you recorded? Also, can you fill me in on what OS, ros release
and version of the p2os stack (preferably the output of svn info from
the p2os stack directory). That will help me figure this out in more
detail.

On Wed, Jul 21, 2010 at 10:02 PM, William Woodall <[hidden email]> wrote:

> I can't think of any reason why gmapping could not run concurrently with the
> p2os driver.  All that the gmapping slam node needs is published laser scans
> and correct TF data.  I have not used the p2os, but I would think it gives
> this information already, if the gmapping system isn't working correctly
> then I would look at the laser topic and the transforms to make sure that
> they are publishing the correct data.  Specifically make sure your
> transforms are setup correctly.  Judging from your error: "...TF_OLD_DATA
> ignoring data from the past for frame /base_link at time..." I would say
> that there is something wrong with the transformations you have setup.
> Hope that helps,
> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
> William Woodall
> Graduate Software Engineering
> Auburn University
> [hidden email]
> [hidden email]
> 256-345-9938
> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
>
>
> On Wed, Jul 21, 2010 at 10:41 PM, nitinDhiman <[hidden email]>
> wrote:
>>
>> Hi Rishi,
>> Then does that mean we cannot do concurrent mapping with currently ROS
>> packages. For pioneer, I heavily relying on p2os drivers.
>>
>> Has any one tried concurrent localisation and mapping? May be using some
>> other setup??
>>
>> Thank you,
>> Nitin
>> --
>> View this message in context:
>> http://ros-users.122217.n3.nabble.com/gmapping-errors-tp981480p986050.html
>> Sent from the ROS-Users mailing list archive at Nabble.com.
>>
>>
>> ------------------------------------------------------------------------------
>> This SF.net email is sponsored by Sprint
>> What will you do first with EVO, the first 4G phone?
>> Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first
>> _______________________________________________
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>> https://lists.sourceforge.net/lists/listinfo/ros-users
>> _______________________________________________
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>> https://code.ros.org/mailman/listinfo/ros-users
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>
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Re: gmapping errors

Rishi Bedi
David - I'm running Ubuntu 10.04, ROS 1.1.13-12 (installed through
synaptic), revision 107 of p2os (modified 2010-07-13).
Full SVN info output for p2os:

Path: .
URL: https://usc-ros-pkg.svn.sourceforge.net/svnroot/usc-ros-pkg/trunk/p2os
Repository Root: https://usc-ros-pkg.svn.sourceforge.net/svnroot/usc-ros-pkg
Repository UUID: 157d20ef-4c6e-4bb2-9484-52dd339cd29c
Revision: 107
Node Kind: directory
Schedule: normal
Last Changed Author: dfseifer
Last Changed Rev: 106
Last Changed Date: 2010-07-13 17:11:49 -0400 (Tue, 13 Jul 2010)

Here is the bagfile that I just recorded: www.rbedi.net/2010-07-22-11-29-38.bag

William - I didn't set anything up for my transforms -- I just set ROS
to record the /tf topic -- is there any setting up I need to do?

Thanks for all your help,
Rishi


On Thu, Jul 22, 2010 at 1:53 AM, David Feil-Seifer
<[hidden email]> wrote:

> We at USC have been using P2OS concurrently with gmapping for months
> now, so I know that it CAN work. Let me help you debug this problem in
> more detail. Can you do me a favor and send me a link to that bag file
> that you recorded? Also, can you fill me in on what OS, ros release
> and version of the p2os stack (preferably the output of svn info from
> the p2os stack directory). That will help me figure this out in more
> detail.
>
> On Wed, Jul 21, 2010 at 10:02 PM, William Woodall <[hidden email]> wrote:
>> I can't think of any reason why gmapping could not run concurrently with the
>> p2os driver.  All that the gmapping slam node needs is published laser scans
>> and correct TF data.  I have not used the p2os, but I would think it gives
>> this information already, if the gmapping system isn't working correctly
>> then I would look at the laser topic and the transforms to make sure that
>> they are publishing the correct data.  Specifically make sure your
>> transforms are setup correctly.  Judging from your error: "...TF_OLD_DATA
>> ignoring data from the past for frame /base_link at time..." I would say
>> that there is something wrong with the transformations you have setup.
>> Hope that helps,
>> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
>> William Woodall
>> Graduate Software Engineering
>> Auburn University
>> [hidden email]
>> [hidden email]
>> 256-345-9938
>> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
>>
>>
>> On Wed, Jul 21, 2010 at 10:41 PM, nitinDhiman <[hidden email]>
>> wrote:
>>>
>>> Hi Rishi,
>>> Then does that mean we cannot do concurrent mapping with currently ROS
>>> packages. For pioneer, I heavily relying on p2os drivers.
>>>
>>> Has any one tried concurrent localisation and mapping? May be using some
>>> other setup??
>>>
>>> Thank you,
>>> Nitin
>>> --
>>> View this message in context:
>>> http://ros-users.122217.n3.nabble.com/gmapping-errors-tp981480p986050.html
>>> Sent from the ROS-Users mailing list archive at Nabble.com.
>>>
>>>
>>> ------------------------------------------------------------------------------
>>> This SF.net email is sponsored by Sprint
>>> What will you do first with EVO, the first 4G phone?
>>> Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first
>>> _______________________________________________
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>>> https://lists.sourceforge.net/lists/listinfo/ros-users
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>>
>>
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Re: gmapping errors

William Woodall
I am seeing your tf tree as this: /map -> /odom -> /base_link.  Which is ok, but you do not have a laser link so the laser data is not being transformed.  The laser data's frame is laser, but you don't have a joint between the base_link and the laser link, this causes it to not be viewable in rviz or be used by gmapping.  You need to define the geometric relationship between the position of the laser sensor and the base of the robot (/base_link -> /laser).

I would recommend reading this bit of the wiki: http://www.ros.org/wiki/tf/FAQ#Can_I_declare_static_transforms.3F

Hope that helps,

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
William Woodall
Graduate Software Engineering
Auburn University
[hidden email]
[hidden email]
256-345-9938
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~


On Thu, Jul 22, 2010 at 10:34 AM, Rishi Bedi <[hidden email]> wrote:
David - I'm running Ubuntu 10.04, ROS 1.1.13-12 (installed through
synaptic), revision 107 of p2os (modified 2010-07-13).
Full SVN info output for p2os:

Path: .
URL: https://usc-ros-pkg.svn.sourceforge.net/svnroot/usc-ros-pkg/trunk/p2os
Repository Root: https://usc-ros-pkg.svn.sourceforge.net/svnroot/usc-ros-pkg
Repository UUID: 157d20ef-4c6e-4bb2-9484-52dd339cd29c
Revision: 107
Node Kind: directory
Schedule: normal
Last Changed Author: dfseifer
Last Changed Rev: 106
Last Changed Date: 2010-07-13 17:11:49 -0400 (Tue, 13 Jul 2010)

Here is the bagfile that I just recorded: www.rbedi.net/2010-07-22-11-29-38.bag

William - I didn't set anything up for my transforms -- I just set ROS
to record the /tf topic -- is there any setting up I need to do?

Thanks for all your help,
Rishi


On Thu, Jul 22, 2010 at 1:53 AM, David Feil-Seifer
<[hidden email]> wrote:
> We at USC have been using P2OS concurrently with gmapping for months
> now, so I know that it CAN work. Let me help you debug this problem in
> more detail. Can you do me a favor and send me a link to that bag file
> that you recorded? Also, can you fill me in on what OS, ros release
> and version of the p2os stack (preferably the output of svn info from
> the p2os stack directory). That will help me figure this out in more
> detail.
>
> On Wed, Jul 21, 2010 at 10:02 PM, William Woodall <[hidden email]> wrote:
>> I can't think of any reason why gmapping could not run concurrently with the
>> p2os driver.  All that the gmapping slam node needs is published laser scans
>> and correct TF data.  I have not used the p2os, but I would think it gives
>> this information already, if the gmapping system isn't working correctly
>> then I would look at the laser topic and the transforms to make sure that
>> they are publishing the correct data.  Specifically make sure your
>> transforms are setup correctly.  Judging from your error: "...TF_OLD_DATA
>> ignoring data from the past for frame /base_link at time..." I would say
>> that there is something wrong with the transformations you have setup.
>> Hope that helps,
>> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
>> William Woodall
>> Graduate Software Engineering
>> Auburn University
>> [hidden email]
>> [hidden email]
>> 256-345-9938
>> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
>>
>>
>> On Wed, Jul 21, 2010 at 10:41 PM, nitinDhiman <[hidden email]>
>> wrote:
>>>
>>> Hi Rishi,
>>> Then does that mean we cannot do concurrent mapping with currently ROS
>>> packages. For pioneer, I heavily relying on p2os drivers.
>>>
>>> Has any one tried concurrent localisation and mapping? May be using some
>>> other setup??
>>>
>>> Thank you,
>>> Nitin
>>> --
>>> View this message in context:
>>> http://ros-users.122217.n3.nabble.com/gmapping-errors-tp981480p986050.html
>>> Sent from the ROS-Users mailing list archive at Nabble.com.
>>>
>>>
>>> ------------------------------------------------------------------------------
>>> This SF.net email is sponsored by Sprint
>>> What will you do first with EVO, the first 4G phone?
>>> Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first
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Re: gmapping errors

David Feil-Seifer
Rishi-

William is right about the transform between base_link and base_scan.
If you look in the p2os_launch package, you will see a number of
launch files. In particular, you might be interested in the
tf_hokuyo_p2os_teleop_joy.launch or p2os_teleop_joy_tf_hokuyo.launch
which creates a hokuyo node, a p2os node, and joystick and teleop
nodes. This launch file should give you all the data that you need.
Bear in mind that you will have to adjust the static transform to
match your laser/pioneer configuration.

Good luck, and let me know if this does not fix things for you.

-Dave

On Thu, Jul 22, 2010 at 1:04 PM, William Woodall <[hidden email]> wrote:

> I am seeing your tf tree as this: /map -> /odom -> /base_link.  Which is ok,
> but you do not have a laser link so the laser data is not being transformed.
>  The laser data's frame is laser, but you don't have a joint between the
> base_link and the laser link, this causes it to not be viewable in rviz or
> be used by gmapping.  You need to define the geometric relationship between
> the position of the laser sensor and the base of the robot (/base_link ->
> /laser).
> I would recommend reading this bit of the
> wiki: http://www.ros.org/wiki/tf/FAQ#Can_I_declare_static_transforms.3F
> Hope that helps,
> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
> William Woodall
> Graduate Software Engineering
> Auburn University
> [hidden email]
> [hidden email]
> 256-345-9938
> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
>
>
> On Thu, Jul 22, 2010 at 10:34 AM, Rishi Bedi <[hidden email]> wrote:
>>
>> David - I'm running Ubuntu 10.04, ROS 1.1.13-12 (installed through
>> synaptic), revision 107 of p2os (modified 2010-07-13).
>> Full SVN info output for p2os:
>>
>> Path: .
>> URL:
>> https://usc-ros-pkg.svn.sourceforge.net/svnroot/usc-ros-pkg/trunk/p2os
>> Repository Root:
>> https://usc-ros-pkg.svn.sourceforge.net/svnroot/usc-ros-pkg
>> Repository UUID: 157d20ef-4c6e-4bb2-9484-52dd339cd29c
>> Revision: 107
>> Node Kind: directory
>> Schedule: normal
>> Last Changed Author: dfseifer
>> Last Changed Rev: 106
>> Last Changed Date: 2010-07-13 17:11:49 -0400 (Tue, 13 Jul 2010)
>>
>> Here is the bagfile that I just recorded:
>> www.rbedi.net/2010-07-22-11-29-38.bag
>>
>> William - I didn't set anything up for my transforms -- I just set ROS
>> to record the /tf topic -- is there any setting up I need to do?
>>
>> Thanks for all your help,
>> Rishi
>>
>>
>> On Thu, Jul 22, 2010 at 1:53 AM, David Feil-Seifer
>> <[hidden email]> wrote:
>> > We at USC have been using P2OS concurrently with gmapping for months
>> > now, so I know that it CAN work. Let me help you debug this problem in
>> > more detail. Can you do me a favor and send me a link to that bag file
>> > that you recorded? Also, can you fill me in on what OS, ros release
>> > and version of the p2os stack (preferably the output of svn info from
>> > the p2os stack directory). That will help me figure this out in more
>> > detail.
>> >
>> > On Wed, Jul 21, 2010 at 10:02 PM, William Woodall <[hidden email]>
>> > wrote:
>> >> I can't think of any reason why gmapping could not run concurrently
>> >> with the
>> >> p2os driver.  All that the gmapping slam node needs is published laser
>> >> scans
>> >> and correct TF data.  I have not used the p2os, but I would think it
>> >> gives
>> >> this information already, if the gmapping system isn't working
>> >> correctly
>> >> then I would look at the laser topic and the transforms to make sure
>> >> that
>> >> they are publishing the correct data.  Specifically make sure your
>> >> transforms are setup correctly.  Judging from your error:
>> >> "...TF_OLD_DATA
>> >> ignoring data from the past for frame /base_link at time..." I would
>> >> say
>> >> that there is something wrong with the transformations you have setup.
>> >> Hope that helps,
>> >> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
>> >> William Woodall
>> >> Graduate Software Engineering
>> >> Auburn University
>> >> [hidden email]
>> >> [hidden email]
>> >> 256-345-9938
>> >> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
>> >>
>> >>
>> >> On Wed, Jul 21, 2010 at 10:41 PM, nitinDhiman <[hidden email]>
>> >> wrote:
>> >>>
>> >>> Hi Rishi,
>> >>> Then does that mean we cannot do concurrent mapping with currently ROS
>> >>> packages. For pioneer, I heavily relying on p2os drivers.
>> >>>
>> >>> Has any one tried concurrent localisation and mapping? May be using
>> >>> some
>> >>> other setup??
>> >>>
>> >>> Thank you,
>> >>> Nitin
>> >>> --
>> >>> View this message in context:
>> >>>
>> >>> http://ros-users.122217.n3.nabble.com/gmapping-errors-tp981480p986050.html
>> >>> Sent from the ROS-Users mailing list archive at Nabble.com.
>> >>>
>> >>>
>> >>>
>> >>> ------------------------------------------------------------------------------
>> >>> This SF.net email is sponsored by Sprint
>> >>> What will you do first with EVO, the first 4G phone?
>> >>> Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first
>> >>> _______________________________________________
>> >>> ros-users mailing list
>> >>> [hidden email]
>> >>> https://lists.sourceforge.net/lists/listinfo/ros-users
>> >>> _______________________________________________
>> >>> ros-users mailing list
>> >>> [hidden email]
>> >>> https://code.ros.org/mailman/listinfo/ros-users
>> >>
>> >>
>> >> _______________________________________________
>> >> ros-users mailing list
>> >> [hidden email]
>> >> https://code.ros.org/mailman/listinfo/ros-users
>> >>
>> >>
>> > _______________________________________________
>> > ros-users mailing list
>> > [hidden email]
>> > https://code.ros.org/mailman/listinfo/ros-users
>> >
>> _______________________________________________
>> ros-users mailing list
>> [hidden email]
>> https://code.ros.org/mailman/listinfo/ros-users
>
>
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