Using Robot Pose EKF for slam_gmapping [closed]
Hi, I am wondering if anyone here have used Robot_Pose_EKF with slam_gmapping? I am doing a simulation in Gazebo. I am now trying to use Robot_Pose_EKF to produce the tf:transformation odom -> base_footprint, which I want the slam_gmapping to use. However, every time I start Gazebo simulator, the program will hang for a while and when it start to run smoothly, slam_gmapping would die.
I checked the tf tree, it seems that robot_pose_ekf is working and able to produce the odom -> base_footprint transformation, but slam_gmapping did not publish the transformation from /map to /odom.
After doing roswtf, I get the following:
Online checks summary:
Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING The following node subscriptions are unconnected:
* /move_base_node/local_costmap/voxel_grid_throttle:
* /move_base_node/local_costmap/voxel_grid
* /move_base_node:
* /move_base_simple/goal
* /voxel_visualizer:
* /move_base_node/local_costmap/voxel_grid_throttled
* /gazebo:
* /set_update_rate
* /gazebo/set_link_state
* /set_hfov
* /gazebo/set_model_state
WARNING These nodes have died:
* spawn_robot-5
* slam_gmapping-11
Found 12 error(s).
ERROR Communication with [/robot_state_publisher] raised an error:
ERROR Communication with [/rosout] raised an error:
ERROR Communication with [/base_shadow_filter] raised an error:
ERROR Communication with [/gps_conv] raised an error:
ERROR Communication with [/voxel_visualizer] raised an error:
ERROR Communication with [/rxconsole_1363778562768817135] raised an error:
ERROR Communication with [/point_cloud_to_laser_manager] raised an error:
ERROR Communication with [/robot_pose_ekf] raised an error:
ERROR Communication with [/base_laser_self_filter] raised an error:
ERROR Could not contact the following nodes:
* /slam_gmapping
ERROR The following nodes should be connected but aren't:
* /gazebo->/slam_gmapping (/base_scan/scan)
* /robot_state_publisher->/slam_gmapping (/tf)
* /gps_conv->/robot_pose_ekf (/vo)
* /slam_gmapping->/robot_pose_ekf (/tf)
* /robot_pose_ekf->/robot_pose_ekf (/tf)
* /base_shadow_filter->/base_laser_self_filter (/base_scan/shadow_filtered)
* /rxconsole_1363778562768817135->/rosout (/rosout)
* /gazebo->/slam_gmapping (/clock)
* /voxel_visualizer->/rosout (/rosout)
* /base_shadow_filter->/rosout (/rosout)
* /robot_pose_ekf->/base_laser_self_filter (/tf)
* /robot_state_publisher->/base_laser_self_filter (/tf)
* /robot_state_publisher->/robot_pose_ekf (/tf)
* /gps_conv->/rosout (/rosout)
* /point_cloud_to_laser_manager->/rosout (/rosout)
* /slam_gmapping->/rosout (/rosout)
* /slam_gmapping->/base_shadow_filter (/tf)
* /robot_pose_ekf->/slam_gmapping (/tf)
* /base_laser_self_filter->/rosout (/rosout)
* /robot_pose_ekf->/base_shadow_filter (/tf)
* /slam_gmapping->/base_laser_self_filter (/tf)
* /robot_state_publisher->/rosout (/rosout)
* /robot_state_publisher->/base_shadow_filter (/tf)
* /rosout->/rxconsole_1363778562768817135 (/rosout_agg)
* /robot_pose_ekf->/rosout (/rosout)
* /gazebo->/slam_gmapping (/tf)
* /slam_gmapping->/slam_gmapping (/tf)
ERROR Errors connecting to the following services:
* service [/slam_gmapping/tf_frames] appears to be malfunctioning: Unable to
communicate with service [/slam_gmapping/tf_frames], address
[rosrpc://ubuntu:42167]
* service [/slam_gmapping/set_logger_level] appears to be malfunctioning: Unable
to communicate with service [/slam_gmapping/set_logger_level], address
[rosrpc://ubuntu:42167]
* service [/dynamic_map] appears to be malfunctioning: Unable to communicate with
service [/dynamic_map], address [rosrpc://ubuntu:42167]
* service [/slam_gmapping/get_loggers] appears to be malfunctioning: Unable to
communicate with service [/slam_gmapping/get_loggers], address
[rosrpc://ubuntu:42167]
Please kindly advise, thank you.
can you post the parameters configuration file your are using for your slam_gmapping please?
Hi bro, did you find the way how to solve it? I got the exact same errors and have no clue...