danigarcialopez / ros2_explorer Goto Github PK

Hi, I am trying to run cartographer using KITTI run 007. I preprocesed the dataset using a preprocessing step that turns the data into a range image of size [3,60,512]. The cartograher works well in straight lines but blunders at turns. I am clueless as to what coud be the issue here and tried different tricks with respect to the lua configuration, but didnt work. Could someone help here. I am posting the rosbag and the lua file here for refernece. KITTI bag used: kitti-run-007-bag Lua file used Lua This is the result using the bag with the given configuration. The map seems to get lost at the turns. Requesting your help here. Thanks. Prashant

I am using NAV2 SLAM and Navigation on a real robot.
Is there a way to hook in the explorer into the nav2 map/slam stack?

After launching gazebo (ros2 launch explorer_bringup map10.launch.py) I've tried to use Discoverer Exploration algorithm, but it's stuck:

However Wanderer Exploration works well.

I have a problem when I launch the map.
I get this error:

[rviz2-7] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist

[rviz2-7] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp

What happens is that the robot goes straight and then it crashes on the wall as it was not "sensing it"

I've downloaded the package as said. I'm using ROS2 Galactic

Thank you for putting together your ROS2 wanderer node. I was sure someone had coded this, and I used your wanderer as a base for my GoPiGo3 ROSbot Humble Dave.

My version at https://github.com/slowrunner/HumbleDave/blob/main/ros2ws/src/explorer_wanderer/explorer_wanderer/wanderer.py

Slam_Toolbox Map and localization using wanderer:

https://forum.dexterindustries.com/t/reality-strikes-gopigo3-dave-again/9536/5?u=cyclicalobsessive

Early run video - (now tuned for my YDLIDAR X4 and GoPiGo3 robot with tolerance for "black holes" - black stuff that causes 0.0 ranges):

https://youtu.be/bcxohp6gSgY

ros2 launch explorer_bringup map10.launch.py
[INFO] [launch]: All log files can be found below /home/chi/.ros/log/2021-07-05-21-25-01-637335-chi-49624
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:274> exception=InvalidLaunchFileError('py')>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 49, in get_package_prefix
content, package_prefix = get_resource('packages', package_name)
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/resources.py", line 48, in get_resource
raise LookupError(
LookupError: Could not find the resource 'turtlebot3_gazebo' of type 'packages'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 53, in get_launch_description_from_any_launch_file
return loader(launch_file_path)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
return getattr(launch_file_module, 'generate_launch_description')()
File "/home/chi/turtlebot3_ws/install/explorer_bringup/share/explorer_bringup/map10.launch.py", line 38, in generate_launch_description
gazebo_launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 69, in get_package_share_directory
return os.path.join(get_package_prefix(package_name), 'share', package_name)
File "/opt/ros/foxy/lib/python3.8/site-packages/ament_index_python/packages.py", line 51, in get_package_prefix
raise PackageNotFoundError(
ament_index_python.packages.PackageNotFoundError: "package 'turtlebot3_gazebo' not found, searching: ['/home/chi/turtlebot3_ws/install/turtlebot3', '/home/chi/turtlebot3_ws/install/turtlebot3_teleop', '/home/chi/turtlebot3_ws/install/turtlebot3_bringup', '/home/chi/turtlebot3_ws/install/turtlebot3_node', '/home/chi/turtlebot3_ws/install/turtlebot3_navigation2', '/home/chi/turtlebot3_ws/install/turtlebot3_example', '/home/chi/turtlebot3_ws/install/turtlebot3_description', '/home/chi/turtlebot3_ws/install/turtlebot3_cartographer', '/home/chi/turtlebot3_ws/install/explorer_wanderer', '/home/chi/turtlebot3_ws/install/explorer_navigation2', '/home/chi/turtlebot3_ws/install/explorer_map_utils', '/home/chi/turtlebot3_ws/install/explorer_interfaces', '/home/chi/turtlebot3_ws/install/explorer_gazebo', '/home/chi/turtlebot3_ws/install/explorer_cartographer', '/home/chi/turtlebot3_ws/install/explorer_bringup', '/opt/ros/foxy']"

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 276, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 296, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/include_launch_description.py", line 125, in execute
launch_description = self.__launch_description_source.get_launch_description(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
self._get_launch_description(self.__expanded_location)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_description_source.py", line 53, in _get_launch_description
return get_launch_description_from_any_launch_file(location)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 56, in get_launch_description_from_any_launch_file
raise InvalidLaunchFileError(extension, likely_errors=exceptions)
launch.invalid_launch_file_error.InvalidLaunchFileError: Caught exception when trying to load file of format [py]: "package 'turtlebot3_gazebo' not found, searching: ['/home/chi/turtlebot3_ws/install/turtlebot3', '/home/chi/turtlebot3_ws/install/turtlebot3_teleop', '/home/chi/turtlebot3_ws/install/turtlebot3_bringup', '/home/chi/turtlebot3_ws/install/turtlebot3_node', '/home/chi/turtlebot3_ws/install/turtlebot3_navigation2', '/home/chi/turtlebot3_ws/install/turtlebot3_example', '/home/chi/turtlebot3_ws/install/turtlebot3_description', '/home/chi/turtlebot3_ws/install/turtlebot3_cartographer', '/home/chi/turtlebot3_ws/install/explorer_wanderer', '/home/chi/turtlebot3_ws/install/explorer_navigation2', '/home/chi/turtlebot3_ws/install/explorer_map_utils', '/home/chi/turtlebot3_ws/install/explorer_interfaces', '/home/chi/turtlebot3_ws/install/explorer_gazebo', '/home/chi/turtlebot3_ws/install/explorer_cartographer', '/home/chi/turtlebot3_ws/install/explorer_bringup', '/opt/ros/foxy']"

Hi!

I'm trying to run the explorer on this map:
turtlebot3_big_house.zip

I haven't been able to modify the launch file to launch my own map and what happens now is that i launch the map in gazebo with:
ros2 launch turtlebot3_gazebo turtlebot3_big_house.launch.py

then i launch nav2 in slam mode
ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True slam:=True

and then your explorer:
ros2 run explorer_bringup manager

choosing Wanderer and what I get is

[INFO] [1693477736.178197689] [manager]: Waiting for action server...

What can I do? I can't manage to modify properly files, could you help me please? I'm a noob ;(

Hi, I wanted to change the environment to be mapped with a single robot. I do not find the lines where this issue can be addressed. Can someone help?

Hello,
I am on ros humble, and nav.launch.py fails due to recoveries_server package not being avail on humble. Is there any solution or substitution to this?
Best Regards,
Can