Can't generate a map or start a world with TurtleBot 4. #376
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ajjaya18
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troubleshooting
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I have this problem when I launch my own world [INFO] [launch]: All log files can be found below /home/andrius/.ros/log/2024-03-07-16-14-10-834014-andrius-HP-Pavilion-Laptop-15-eh0xxx-178044 @hilary-luo check please |
ajjaya18
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Please fill in the remaining requested information at the top of the ticket (model, ROS distro, Networking Configuration, OS, Built from source or installed?, Package version (with the package number of what you installed) and Type of issue). This information is important for us to be able to help you. Without that information listed above, the best suggestions I have for right now: If you are still having the same issue after doing this, can you confirm: |
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Well, I haven't done any network configuration; I'm just using simulation as I don't have a physical robot. Here is my .bashrc file: ~/.bashrc: executed by bash(1) for non-login shells.see /usr/share/doc/bash/examples/startup-files (in the package bash-doc)for examplesIf not running interactively, don't do anythingcase $- in don't put duplicate lines or lines starting with space in the history.See bash(1) for more optionsHISTCONTROL=ignoreboth append to the history file, don't overwrite itshopt -s histappend for setting history length see HISTSIZE and HISTFILESIZE in bash(1)HISTSIZE=1000 check the window size after each command and, if necessary,update the values of LINES and COLUMNS.shopt -s checkwinsize If set, the pattern "**" used in a pathname expansion context willmatch all files and zero or more directories and subdirectories.#shopt -s globstar make less more friendly for non-text input files, see lesspipe(1)[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)" set variable identifying the chroot you work in (used in the prompt below)if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then set a fancy prompt (non-color, unless we know we "want" color)case "$TERM" in uncomment for a colored prompt, if the terminal has the capability; turnedoff by default to not distract the user: the focus in a terminal windowshould be on the output of commands, not on the prompt#force_color_prompt=yes if [ -n "$force_color_prompt" ]; then if [ "$color_prompt" = yes ]; then If this is an xterm set the title to user@host:dircase "$TERM" in enable color support of ls and also add handy aliasesif [ -x /usr/bin/dircolors ]; then fi colored GCC warnings and errors#export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01' some more ls aliasesalias ll='ls -alF' Add an "alert" alias for long running commands. Use like so:sleep 10; alertalias alert='notify-send --urgency=low -i "$([ Alias definitions.You may want to put all your additions into a separate file like~/.bash_aliases, instead of adding them here directly.See /usr/share/doc/bash-doc/examples in the bash-doc package.if [ -f ~/.bash_aliases ]; then enable programmable completion features (you don't need to enablethis, if it's already enabled in /etc/bash.bashrc and /etc/profilesources /etc/bash.bashrc).if ! shopt -oq posix; then |
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Do you have a GPU? if you do have a GPU it may not actually be being used by the simulation and that could be the causing factor. If you do have a GPU please make sure that it is being used properly. If you don't have a GPU or it is already being used properly, continue with the following: Can you visualize the lidar rays in gazebo and confirm if you are seeing the same issue as this ticket? turtlebot/turtlebot4_simulator#20 If you are then try the solution that was found there. Unfortunately you are using an end of life version of ROS so it no longer receives updates. Our support abilities are limited for these older distros, I would advise that you update to Humble when you can. I believe this issue is not present in Humble. |
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@hilary-luo I don't have GPU |
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@ajjaya18 Not having a GPU dopes not mean that you cannot see the rays. Not having a GPU just could mean that you may have needed to complete the steps that I linked to you in order to get the simulated lidar working properly with Galactic but it seems to be working just fine in your image. The lidar points are showing in rviz in the image you shared. If you want to visualize the rays in gazebo then you need to turn that on (vizualize lidar -> select the lidar). That message that you are getting means that you are trying to command the robot to move while it is completing an autonomous behaviour. You need to wait until it is done the autonomous behaviour (such as undocking or backing up because it collided with something) before driving it. |
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@hilary-luo can you explain more about how to visualize the rays in gazebo please. |
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Select the options at the top right If you don't see the lidar, ensure that your simulation is playing (should see a pause symbol in the bottom left). |
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You need to first press the refresh button.
If you are referring to the wheel / wheel drop tf errors in the simulation, that is fine and should not affect your mapping or navigation. I believe it is fixed in Humble. |
ok, thanks but you know the origin of this problem? because I have been reviewing all the URDF files and they seem to be fine. @hilary-luo |
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Hi, @hilary-luo Are there any issues related to launching your own world? |
I don't recall off the top of my head and unfortunately don't have the time to chase this down. You can try to take a look at what has changed between the version that you are using and the latest Humble version but there are likely other changes in there as well.
No, you just need to follow the instructions on how to do so. There are some notes on the website in the documentation and if you look at some of the other issues I have walked people through launching their own worlds. In short, you have to install the turtlebot4_simulator package from source and place your new world beside the existing ones there. Make sure the file name matches the world name inside the file. Then you should be able to build and source it and then launch it with the name of your custom world. |
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Closing this issue because discussion has shifted to the new one. |
Robot Model
Standard
ROS distro
Galactic
Networking Configuration
I don't know this.
OS
^Candrius@andrius-HP-Pavilion-Laptop-15-eh0xxx:~/turtlebot4_ws$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description: Ubuntu 20.04.6 LTS
Release: 20.04
Codename: focal
Built from source or installed?
installed
Package version
I am running the packages that come in the tutorial for ROS Galactic."
Type of issue
Can't mapping
Expected behaviour
Mapping the depot world with all the present objects, running the robot in created worlds, and having an exact simulation and mapping.
Actual behaviour
t's not possible to map in the depot world; it doesn't recognize any object and creates a completely empty map. It doesn't recognize the walls, boxes, or anything else. The ignition.launch.py file doesn't run with another world.
Error messages
To Reproduce
1.run SLAM. It is recommended to run synchronous SLAM on a remote PC to get a higher resolution map.
ros2 launch turtlebot4_navigation slam_sync.launch.py
To visualise the map, launch Rviz2 with the view_robot launch file.
ros2 launch turtlebot4_viz view_robot.launch.py
3. run the ignition gazebo
Running the simulator with default settings:
ros2 launch turtlebot4_ignition_bringup ignition.launch.py
Other notes
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