[ros-users] karto package launch problems

[Bhaskara Marthi]

On Thu, Aug 5, 2010 at 12:22 AM, nitinDhiman <nitinkdhiman at gmail.com> wrote:

>
> Hello friends,
>
> I have Cturtle installed using debs released on August03,10 for Lucid Lynx
> on Debian Squeeze.
>
> I am trying to run tutorial1.cpp of Karto Slam.
> Karto package has launch file karto_stage.launch.
> First it reports about abscence of 2dnav_stage package. Which is not
> present
> in https://code.ros.org/svn/wg-ros-pkg/branches/trunk_cturtle
>
>
Hi Nitin, that package does seem to exist at
https://code.ros.org/svn/wg-ros-pkg/branches/trunk_cturtle/demos/2dnav_stage/.
Are you sure your ROS_PACKAGE_PATH is set correctly?
- Bhaskara


> Changing path for world file to package 2dnav_slam_stage and launching it,
> Stage do not shows anything and rviz is empty.
>
> Following is the output:
>
> process[voxel_visualizer-5]: started with pid [14971]
> process[slam_karto-6]: started with pid [14984]
> [ WARN] [1280992699.713083370]: Message from [/stageros] has a
> non-fully-qualified frame_id [base_laser_link]. Resolved locally to
> [/base_laser_link].  This is will likely not work in multi-robot systems.
> This message will only print once.
> [ INFO] [1280992699.714978931, 0.400000000]: laser base_laser_link's pose
> wrt base: 0.275 0.000 0.000
> [ INFO] [1280992699.953668485, 0.600000000]: Subscribed to Topics:
> base_scan
> [ INFO] [1280992699.984762245, 0.600000000]: Requesting the map...
>
> [ INFO] [1280992699.986132531, 0.600000000]: Still waiting on map...
>
> [ INFO] [1280992700.907246592, 1.600000000]: Still waiting on map...
>
> [ INFO] [1280992701.920094453, 2.600000000]: Received a 0 X 0 map at
> 0.050000 m/pix
>
> [ WARN] [1280992701.942543466, 2.600000000]: The base_scan observation
> buffer has not been updated for 1.00 seconds, and it should be updated
> every
> 0.40 seconds.
> [ INFO] [1280992701.951922032, 2.600000000]: MAP SIZE: 0, 0
> [ INFO] [1280992701.957366230, 2.600000000]: Subscribed to Topics:
> base_scan
> [ WARN] [1280992702.083626350, 2.700000000]: The base_scan observation
> buffer has not been updated for 1.10 seconds, and it should be updated
> every
> 0.40 seconds.
> [ WARN] [1280992702.106022004, 2.800000000]: The base_scan observation
> buffer has not been updated for 1.20 seconds, and it should be updated
> every
> 0.40 seconds.
>
> Following is the ouput of roswtf
> WARNING The following node subscriptions are unconnected:
>  * /local_costmap/voxel_grid_throttle:
>   * /local_costmap/voxel_grid
>  * /move_base_node:
>   * /tf_message
>   * /move_base/cancel
>  * /voxel_visualizer:
>   * /move_base_node/local_costmap/voxel_grid_throttled
>  * /rviz:
>   * /particlecloud
>   * /base_scan_throttled
>
> WARNING The following nodes are unexpectedly connected:
>  * /voxel_visualizer->/rosout (/rosout)
>  * /slam_karto->/rosout (/rosout)
>  * /local_costmap/voxel_grid_throttle->/rosout (/rosout)
>  * /move_base_node->/rosout (/rosout)
>  * /rviz->/rosout (/rosout)
>  * /stageros->/rosout (/rosout)
>
> For running it, first world file needs upgradation so that pose is defined
> now as (x,y,z,yaw). I am not able to find reason for this. Any solutions?
>
>
> thank you
> nitin
> --
> View this message in context:
> http://ros-users.122217.n3.nabble.com/karto-package-launch-problems-tp1025328p1025328.html
> Sent from the ROS-Users mailing list archive at Nabble.com.
>
>
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-- 
Bhaskara Marthi
Research Scientist
Willow Garage Inc.
650-475-2856
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