Nothing published to the /map topic when using SLAM Toolbox (ROS Noetic)
I’m trying to use the slam_toolbox (https://github.com/SteveMacenski/slam...) on Ubuntu 20.04.4 LTS with ROS Noetic for mapping a Gazebo environment (I usually try the ‘world’ environment) with Turtlebot3.
However, after launching, the slam_toolbox node never publishes anything to the /map topic despite being listed as a subscriber and publisher for the topic. Trying to add the map display to rviz produces a warning with a message, “No map received”.
rqt_graph: https://imgbb.com/r67mpyX TF tree: https://ibb.co/m00KtGv
When I try rostopic echo /map, the output is “WARNING: no messages received and simulated time is active. Is /clock being published?”
I have tried the asynchronous, synchronous and offline methods of the toolbox and I have also tried running some relevant projects from Github (https://github.com/search?q=slam_tool...), but I still run into the same issue.
This is the launch file that I’m using,
<launch>
<!-- Arguments -->
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
<arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
<arg name="open_rviz" default="true"/>
<!-- Gazebo -->
<include file="$(find turtlebot3_gazebo)/launch/turtlebot3_world.launch" />
<!-- TurtleBot3 -->
<include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
<arg name="model" value="$(arg model)" />
</include>
<!-- Mapping -->
<include file="$(find slam_toolbox)/launch/online_async.launch" />
<!-- rviz -->
<group if="$(arg open_rviz)">
<node pkg="rviz" type="rviz" name="rviz" required="true" />
</group>
</launch>
This may not be relevant but after running the launch file, “LaserRangeScan contains 360 range readings, expected 359” is repeatedly published to the terminal. Also calling map_saver, just results in a “ Waiting for the map” output. When I tried launching with turtlebot3_gmapping.launch instead of slam_toolbox, I was able to save the map successfully.
I’m still quite new to ROS so there may be something obvious that I’ve missed here.
Hi, I'm having the same problem. Were you able to solve it?
Hi, unfortunately I wasn't able to solve the issue and I moved on to ROS 2