Questions about cartographer with urdf : param robot_description not found by searchParam()
Recently I'm trying to make a mobile robot with cartographer, & rplidar_a3. I finished to use my rplidar with cartographer with the commands(by googling).
roslaunch rplidar_ros view_rplidar_a3.launch roslaunch cartographer_ros rplidar_2d.launch
And fortunately, it worked well. so I thought that the next step should be murging rplidar_2d.launch with my urdf. And I've tried it but I couldn't visualize my urdf on rviz with an error msg like this
param robot_description not found by searchParam()
And also, I cannot found robot_state_publisher() on my rqt tf tree.
My modified rplidar_2d.launch and rplidar.lua files are like this.
<launch>
<param name="robot_description"
textfile="$(find cartographer_ros)/urdf/qs_bot.xacro"/>
<node name="robot_state_publisher" pkg="robot_state_publisher"
type="robot_state_publisher" />
<node pkg="cartographer_ros" type="cartographer_node" name="cartographer_node"
args="-configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename rplidar.lua"
output="screen">
<remap from="echoes" to="scan" />
</node>
<node pkg="cartographer_ros" type="cartographer_occupancy_grid_node"
name="cartographer_occupancy_grid_node"
args="-resolution 0.05" />
<!-- AMCL -->
<!-- <node pkg="amcl" type="amcl" name="amcl" args="scan:=scan">
<remap from="static_map" to="/static_map"/>
<param name="initial_pose_x" value="$(arg x_pos)" />
<param name="initial_pose_y" value="$(arg y_pos)" />
<param name="global_frame_id" value="map" />
<param name="odom_frame_id" value="$(arg robot_name)/odom" />
<param name="base_frame_id" value="$(arg robot_name)/base_link" />
</node> -->
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
</launch>
lua file
include "map_builder.lua" include "trajectory_builder.lua"
options = {
map_builder = MAP_BUILDER,
trajectory_builder = TRAJECTORY_BUILDER,
map_frame = "map",
tracking_frame = "base_link",
published_frame = "base_link",
odom_frame = "odom",
provide_odom_frame = true,
publish_frame_projected_to_2d = false,
use_pose_extrapolator = true,
use_odometry = false,
use_nav_sat = false,
use_landmarks = false,
num_laser_scans = 1,
num_multi_echo_laser_scans = 0,
num_subdivisions_per_laser_scan = 10,
num_point_clouds = 0,
lookup_transform_timeout_sec = 0.2,
submap_publish_period_sec = 0.3,
pose_publish_period_sec = 5e-3,
trajectory_publish_period_sec = 30e-3,
rangefinder_sampling_ratio = 1.,
odometry_sampling_ratio = 1,
fixed_frame_pose_sampling_ratio = 1,
imu_sampling_ratio = 1,
landmarks_sampling_ratio = 1,
}
MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
POSE_GRAPH.optimization_problem.huber_scale = 1e2
return options
And my urdf(.xacro) files are like this.
<robot <a="" href="http://xmlns:xacro="http://www.ros.org/wiki/xacro">xmlns:xacro="http://www.ros.org/wiki/..." name="qs_bot"></robot>
<!-- colors -->
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
<xacro:macro name="Transmission_block" params="joint_name">
<transmission name="${joint_name}_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${joint_name}">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${joint_name}_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
<!-- xacro parameters -->
<xacro:property name="joint_wheel_match" value="-0.053 0.02 -0.052" />
<xacro:property name="center_to_left_dis" value="0.2175" />
<xacro:property name="center_to_right_dis" value="-${center_to_left_dis}" />
<xacro:property name="center_to_front_dis" value="0.176" />
<xacro:property name="center_to_back_dis" value="-0.169" />
<xacro:property name="wheel_mass" value="0.8" />
<xacro:property name="wheel_height" value="-0.085" />
<!-- <xacro:property name="wheel_width" value="0.03552" /> -->
<xacro:property name ...