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I follow the tutorial turtlebot_simulator to make a map in a simulated world.But when I run
roslaunch turtlebot_gazebo gmapping_demo.launch
a error that scan message must contain angles from -x to x occurs, as show below. How to deal with it.
[ERROR] [1433813576.466253926, 24.270000000]: Scan message must contain angles from -x to x, i.e. angle_min = -angle_max
Hi all, thank you for sharing the data. A fix was merged upstream in 1.3.8: it just reached shadow fixed so please test. The fix centers the scan before sending them to gmapping, whether they're slightly / completely off-centered or even upside-down.
This error is due to recent change in gmapping package. This can be fixed by modifying and recompiling the gmapping package as follows:
$ wget http://packages.ros.org/ros/ubuntu/pool/main/r/ros-indigo-gmapping/ros-indigo-gmapping_1.3.7.orig.tar.gz
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
$ tar xvf ../../ros-indigo-gmapping_1.3.7.orig.tar.gz
$ mv ros-indigo-gmapping-1.3.7/ gmapping
$ gedit gmapping/src/slam_gmapping.cpp
if (fabs(fabs(scan.angle_min) - fabs(scan.angle_max)) > FLT_EPSILON) if (fabs(fabs(scan.angle_min) - fabs(scan.angle_max)) > 0.003) // this is the value for Kinect$ cd ..
$ catkin_make
$ sudo cp devel/lib/gmapping/slam_gmapping* /opt/ros/indigo/lib/gmapping/
This is not working for me. Followed the instructions but still getting same error. Any ideas? (I'm using Ubuntu 14.04.2 LTS and Turtlebot 2)
@Salocin808 Instant workaround (not a "solution") can be to play with FLT_EPSILON value that works for you. Once you find the smallest working value sharing it with us would be beneficial.
@130s Ok thanks for your help! I am already at home but will try it tomorrow morning.
@130s I changed the error message so that it prints out the difference between the angles:
[ERROR] [1437121911.683298899]: Edited: Scan message must contain angles from -x to x, i.e. angle_min (0.513185) = -angle_max (0.499907). min-max = 0.013278
Maybe EPSILON should be 0.03?
please guys, don't try to find workarounds: report the bug at least; better, help fixing it :)
well, after changing the value to 0.03 I never had problems.. where should I report the bug?
Now you just need to download the latest version of gmapping(1.3.8), extract it into your catkin_ws/src.
Then
$ catkin_make
Finally:
$ sudo cp devel/lib/gmapping/slam_gmapping* /opt/ros/indigo/lib/gmapping/
Hope this works for you :)
While @chuong's answer can be referenced as a temporary workaround, I filed a discussion ticket in gmapping community for the permanent solution.
UPDATE @Vincent Rabaud opened a pull request that can be the permanent solution for this issue. Try it out, and give feedback in the ticket.
can anybody please send me a failing rosbag ? My personal email is https://github.com/ros-perception/sla...
@Salocin808 Permanent, general solution is discussed in this ticket. And I've already did debug print hack haha
I tested @Vincent Rabaud's patch and found gmapping didn't run as expected. It printed "Registering First Scan" then stopped updating. There was no other output until being killed.
For a pull request, let's keep discussing in the pull request page instead of distributing info at multiple places.
but I can not find gmapping/ in devel/lib after I run 'catkin_make'
Combining two answers, this now works, assuming you have a catkin workspace set up already:
wget http://packages.ros.org/ros/ubuntu/pool/main/r/ros-indigo-gmapping/ros-indigo-gmapping_1.3.8.orig.tar.gz
cd ~/catkin_ws/src
tar xvf ../../ros-indigo-gmapping_1.3.8.orig.tar.gz
mv ros-indigo-gmapping-1.3.8/ gmapping
catkin_make
sudo cp devel/lib/gmapping/slam_gmapping* /opt/ros/indigo/lib/gmapping/
Asked: 2015-06-08 21:30:06 -0600
Seen: 2,217 times
Last updated: Mar 05 '16
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I am facing the same issue, any possible solution?
me too , do you have any possible solution
No i have not found any.. starting looking at jackal robot.
I have the same problem. This is the new behaviour in the latest ros-indigo-gmapping-1.3.7 package. CHANGELOG.rst says: .... * Added cfloat include * Change arbitrary constant to FLT_EPSILON * Added check that scan goes from -x to x .......