Unable to Run SLAM #27
Comments
|
Please check if your camera is working properly. As mentioned in the issue here, IntelRealSense/realsense-ros#503, check if unplugging and re-plugging the realsense solves your issue. As mentioned on the main page of the repo, Realsense should be connected to the computer while running the locobot_install_all.sh A few tools to debug if the camera is working properly,
If the above test returns "None" as the image, that means the camera is not properly setup.
|
|
Thanks for your reply. I am able to see images published to |
|
I updated firmware for both D435 Camera and Base. I also did a fresh install from scratch.SLAM still doesn't work. |
|
If your camera is working fine, based the dynamixel error message presented, it could be that the pan and tilt motors on which the camera is mounted are not getting properly recognized. What is the out the following test? Run |
|
I get the following error after running =========================== 6 failed in 3.72 seconds =========================== test_camera.py::test_position_control[target_position0] FAILED [ 16%] |
|
Based on the test results it looks like there is some problem with your camera pan and tilt (dynamixel motors). Please make sure all the cables are properly wired for the motors. Please make sure you also followed all the assembly instructions mention on the LoCoBot assembly website ( locobot.org ) accurately. On a side note, it looks like the realsense camera is working fine. |
|
I commented 1.Does the robot move automatically during map creation or needs to manually controlled via kobuki_keyop ? |
I am not using dynamixel motors yet . I have a fixed camera.Are they mandatory for slam to run ? |
|
Here are the answers to your questions,
|
|
Thanks for your answers !. |
|
The error is attributed to the earlier discovered problem with your pan and tilt motors. Please refer to my previous reply... Based on the test results it looks like there is some problem with your camera pan and tilt (dynamixel motors). Please make sure all the cables are properly wired for the motors. Please make sure you also followed all the assembly instructions mention on the LoCoBot assembly website ( locobot.org ) accurately. On a side note, it looks like the realsense camera is working fine. |
|
Is it possible to use a fixed camera without pan and tilt motors ? .I haven't installed dynamixel motors for pan and tilt. Using a fixed camera mounted on kobuki base. |
|
Thanks for the help! |
|
Hi, I hope your were able to resolve the issue? The easiest way to fix this issue if you don't have access to camera pan and tilt motors is to,
|
I have built a LoCoBot without the robotic arm and movable camera. I get the following issue when I run SLAM.
LoCoBot installation is done using locobot_install_all.sh .
I have commented calibration_tf_broadcaster as suggested in issue #26 in main.launch and updated permission to /dev/ttyUSB0.
Command : roslaunch locobot_control main.launch use_base:=true use_vslam:=true use_camera:=true
Hardware :
Error:
========
... logging to /home/vikash/.ros/log/978b8314-cab2-11e9-97a9-00c2c6bcf3fe/roslaunch-vikash-desktop-2101.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://vikash-desktop:46073/
SUMMARY
PARAMETERS
NODES
/camera/
color_rectify_color (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
/
bumper2pointcloud (nodelet/nodelet)
cmd_vel_mux (nodelet/nodelet)
diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
locobot_controller (locobot_control/locobot_controller)
map_server (map_server/map_server)
mobile_base (nodelet/nodelet)
mobile_base_nodelet_manager (nodelet/nodelet)
move_base (move_base/move_base)
move_group (moveit_ros_move_group/move_group)
navigation_velocity_smoother (nodelet/nodelet)
odom_map_broadcaster (tf/static_transform_publisher)
orb_slam2_rgbd (orb_slam2_ros/orb_slam2_rgbd)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_vikash_desktop_2101_8648206597407369419 (rviz/rviz)
auto-starting new master
process[master]: started with pid [2121]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 978b8314-cab2-11e9-97a9-00c2c6bcf3fe
process[rosout-1]: started with pid [2134]
started core service [/rosout]
process[camera/realsense2_camera_manager-2]: started with pid [2151]
process[camera/realsense2_camera-3]: started with pid [2152]
process[camera/color_rectify_color-4]: started with pid [2153]
process[camera/points_xyzrgb_hw_registered-5]: started with pid [2154]
process[orb_slam2_rgbd-6]: started with pid [2169]
process[diagnostic_aggregator-7]: started with pid [2179]
process[mobile_base_nodelet_manager-8]: started with pid [2185]
process[mobile_base-9]: started with pid [2187]
process[bumper2pointcloud-10]: started with pid [2190]
process[cmd_vel_mux-11]: started with pid [2204]
process[locobot_controller-12]: started with pid [2216]
process[map_server-13]: started with pid [2230]
process[odom_map_broadcaster-14]: started with pid [2242]
process[navigation_velocity_smoother-15]: started with pid [2251]
process[move_base-16]: started with pid [2266]
process[robot_state_publisher-17]: started with pid [2287]
process[move_group-18]: started with pid [2291]
process[rviz_vikash_desktop_2101_8648206597407369419-19]: started with pid [2311]
[ INFO] [1567120402.460071955]: Initializing nodelet with 4 worker threads.
[PortHandlerLinux::SetupPort] Error opening serial port!
[ERROR] [1567120402.518783407]: [DynamixelDriver] Failed to open the port!
[ERROR] [1567120402.518853515]: Please check USB port name
[ INFO] [1567120402.543696185]: RealSense ROS v2.1.4
[ INFO] [1567120402.543791222]: Running with LibRealSense v2.18.1
[ INFO] [1567120402.619684333]: Loading robot model 'locobot'...
[ INFO] [1567120402.619800247]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1567120402.687132545]: getParameters...
[ INFO] [1567120402.689936966]: rviz version 1.12.17
[ INFO] [1567120402.690081544]: compiled against Qt version 5.5.1
[ INFO] [1567120402.690159583]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1567120402.854614440]: setupDevice...
[ INFO] [1567120402.854658898]: JSON file is not provided
[ INFO] [1567120402.854692867]: ROS Node Namespace: camera
[ INFO] [1567120402.854713734]: Device Name: Intel RealSense D435
[ INFO] [1567120402.854728714]: Device Serial No: 826212070362
[ INFO] [1567120402.854743304]: Device FW version: 05.11.06.250
[ INFO] [1567120402.854759744]: Device Product ID: 0x0B07
[ INFO] [1567120402.854776860]: Enable PointCloud: Off
[ INFO] [1567120402.854799854]: Align Depth: On
[ INFO] [1567120402.854813538]: Sync Mode: On
[ INFO] [1567120402.854852939]: Device Sensors:
[ INFO] [1567120402.854885991]: Stereo Module was found.
[ INFO] [1567120402.854903235]: RGB Camera was found.
[ INFO] [1567120402.854956741]: (Fisheye, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1567120402.854973672]: (Gyro, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1567120402.854989789]: (Accel, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1567120402.859358243]: setupPublishers...
[ INFO] [1567120402.864763799]: Expected frequency for depth = 30.00000
REQUIRED process [locobot_controller-12] has died!
process has finished cleanly
log file: /home/vikash/.ros/log/978b8314-cab2-11e9-97a9-00c2c6bcf3fe/locobot_controller-12*.log
Initiating shutdown!
[ INFO] [1567120402.912608763]: Using plugin "static_layer"
[ INFO] [1567120402.948156768]: Requesting the map...
[ INFO] [1567120402.954187009]: Expected frequency for infra1 = 30.00000
[rviz_vikash_desktop_2101_8648206597407369419-19] killing on exit
[robot_state_publisher-17] killing on exit
[move_group-18] killing on exit
[odom_map_broadcaster-14] killing on exit
[move_base-16] killing on exit
[navigation_velocity_smoother-15] killing on exit
[locobot_controller-12] killing on exit
[map_server-13] killing on exit
[mobile_base_nodelet_manager-8] killing on exit
[mobile_base-9] killing on exit
[bumper2pointcloud-10] killing on exit
[cmd_vel_mux-11] killing on exit
[diagnostic_aggregator-7] killing on exit
[orb_slam2_rgbd-6] killing on exit
[camera/points_xyzrgb_hw_registered-5] killing on exit
[camera/color_rectify_color-4] killing on exit
[camera/realsense2_camera-3] killing on exit
[camera/realsense2_camera_manager-2] killing on exit
[ INFO] [1567120403.008433772]: Interrupt Signal is received! Terminating RealSense Node...
30/08 07:13:23,008 WARNING [139724434769792] (types.cpp:57) stop_streaming() failed. UVC device is not streaming!
[ INFO] [1567120403.019812910]: Expected frequency for aligned_depth_to_infra1 = 30.00000
[ INFO] [1567120403.078924170]: Expected frequency for infra2 = 30.00000
[ INFO] [1567120403.243421644]: Expected frequency for aligned_depth_to_infra2 = 30.00000
[ INFO] [1567120403.366973194]: Expected frequency for color = 30.00000
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::lock_error >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[ INFO] [1567120403.445902938]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1567120403.535946209]: setupStreams...
30/08 07:13:23,538 WARNING [139724434769792] (sensor.cpp:338) Unregistered Media formats : [ UYVY ]; Supported: [ ]
[ INFO] [1567120403.541783409]: depth stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1567120403.542054726]: infra1 stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1567120403.542283715]: infra2 stream is enabled - width: 640, height: 480, fps: 30
30/08 07:13:23,542 WARNING [139724434769792] (backend-v4l2.cpp:1248) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16!
30/08 07:13:23,543 WARNING [139724434769792] (sensor.cpp:338) Unregistered Media formats : [ RW16 ]; Supported: [ ]
[ INFO] [1567120403.546500835]: color stream is enabled - width: 640, height: 480, fps: 30
[ INFO] [1567120403.576904732]: num_filters: 0
[ INFO] [1567120403.577603421]: RealSense Node Is Up!
[ INFO] [1567120403.577649104]: Setting Dynamic reconfig parameters.
[ INFO] [1567120403.740436127]: Done Setting Dynamic reconfig parameters.
30/08 07:13:23,758 WARNING [139723648333568] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details.
[ WARN] [1567120403.759075034]: Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)
30/08 07:13:23,761 WARNING [139723637466880] (ds5-timestamp.cpp:64) UVC metadata payloads not available. Please refer to installation chapter for details.
Starting context monitors...
Context monitors started.
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
You can start planning now!
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
The text was updated successfully, but these errors were encountered: