no costmap when using SLAM with turtlebot3 #1007
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…t_vel in odometry.hpp
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There is no generated costmap if you want use slam with created map. The reason is, that there are no start values for odometry. This is changed in this pull request.
When running:
ros2 launch turtlebot3_bringup robot.launch.py
ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=$HOME/map.yaml
Error message:
Sensor origin at (7263490040.02, -5.51) is out of map bounds (-8589934592.00, -7.00) to (-8589934589.02, -4.03). The costmap cannot raytrace for it.
[component_container_isolated-1] [WARN] [1702920741.741098784] [local_costmap.local_costmap]: Sensor origin at (7263490040.02, -5.51 0.18) is out of map bounds (-8589934592.00, -7.00, 0.00) to (-8589934589.02, -4.03, 0.78). The costmap cannot raytrace for it.
[component_container_isolated-1] [INFO] [1702920741.774218899] [velocity_smoother]: Running Nav2 LifecycleNode rcl preshutdown (velocity_smoother)
[component_container_isolated-1] [INFO] [1702920741.774267537] [velocity_smoother]: Deactivating
[component_container_isolated-1] [INFO] [1702920741.774277669] [velocity_smoother]: Destroying bond (velocity_smoother) to lifecycle manager.
[component_container_isolated-1] [INFO] [1702920741.774289027] [velocity_smoother]: Cleaning up
[component_container_isolated-1] [INFO] [1702920741.774296671] [velocity_smoother]: Destroying bond (velocity_smoother) to lifecycle manager.
[component_container_isolated-1] [INFO] [1702920741.774299312] [waypoint_follower]: Running Nav2 LifecycleNode rcl preshutdown (waypoint_follower)
[component_container_isolated-1] [INFO] [1702920741.774305420] [waypoint_follower]: Deactivating
[component_container_isolated-1] [INFO] [1702920741.774309413] [waypoint_follower]: Destroying bond (waypoint_follower) to lifecycle manager.
[component_container_isolated-1] [INFO] [1702920741.774315230] [waypoint_follower]: Cleaning up
[component_container_isolated-1] [INFO] [1702920741.776827941] [waypoint_follower]: Destroying bond (waypoint_follower) to lifecycle manager.
[component_container_isolated-1] [INFO] [1702920741.776838101] [behavior_server]: Running Nav2 LifecycleNode rcl preshutdown (behavior_server)
[component_container_isolated-1] [INFO] [1702920741.776845997] [behavior_server]: Deactivating
[component_container_isolated-1] [INFO] [1702920741.776858444] [behavior_server]: Destroying bond (behavior_server) to lifecycle manager.
[component_container_isolated-1] [INFO] [1702920741.776868640] [behavior_server]: Cleaning up
[component_container_isolated-1] [INFO] [1702920741.778909745] [behavior_server]: Destroying bond (behavior_server) to lifecycle manager.
[component_container_isolated-1] [INFO] [1702920741.778917544] [bt_navigator]: Running Nav2 LifecycleNode rcl preshutdown (bt_navigator)
[component_container_isolated-1] [INFO] [1702920741.778924289] [bt_navigator]: Deactivating
[component_container_isolated-1] [INFO] [1702920741.778929648] [bt_navigator]: Destroying bond (bt_navigator) to lifecycle manager.
[component_container_isolated-1] [INFO] [1702920741.778937413] [bt_navigator]: Cleaning up
[component_container_isolated-1] [INFO] [1702920741.843219311] [bt_navigator]: Completed Cleaning up
[component_container_isolated-1] [INFO] [1702920741.843243327] [bt_navigator]: Destroying bond (bt_navigator) to lifecycle manager.
[component_container_isolated-1] [INFO] [1702920741.843248385] [global_costmap.global_costmap]: Running Nav2 LifecycleNode rcl preshutdown (global_costmap)
[component_container_isolated-1] [INFO] [1702920741.843256277] [global_costmap.global_costmap]: Deactivating
[component_container_isolated-1] [WARN] [1702920741.941112951] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[component_container_isolated-1] [WARN] [1702920741.941126592] [local_costmap.local_costmap]: Sensor origin at (7263490040.02, -5.51) is out of map bounds (-8697308774.40, -7.00) to (-8697308771.42, -4.03). The costmap cannot raytrace for it.
[component_container_isolated-1] [WARN] [1702920741.941153196] [local_costmap.local_costmap]: Sensor origin at (7263490040.02, -5.51 0.18) is out of map bounds (-8697308774.40, -7.00, 0.00) to (-8697308771.42, -4.03, 0.78). The costmap cannot raytrace for it.
[component_container_isolated-1] [WARN] [1702920742.141190099] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[component_container_isolated-1] [WARN] [1702920742.141237432] [local_costmap.local_costmap]: Sensor origin at (7263490040.02, -5.51) is out of map bounds (-8804682956.80, -7.00) to (-8804682953.82, -4.03). The costmap cannot raytrace for it.
[component_container_isolated-1] [WARN] [1702920742.141347725] [local_costmap.local_costmap]: Sensor origin at (7263490040.02, -5.51 0.18) is out of map bounds (-8804682956.80, -7.00, 0.00) to (-8804682953.82, -4.03, 0.78). The costmap cannot raytrace for it.
[component_container_isolated-1] [WARN] [1702920742.341178350] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[component_container_isolated-1] [WARN] [1702920742.341226145] [local_costmap.local_costmap]: Sensor origin at (7263490040.02, -5.51) is out of map bounds (-8912057139.20, -7.00) to (-8912057136.22, -4.03). The costmap cannot raytrace for it.
[component_container_isolated-1] [WARN] [1702920742.341333770] [local_costmap.local_costmap]: Sensor origin at (7263490040.02, -5.51 0.18) is out of map bounds (-8912057139.20, -7.00, 0.00) to (-8912057136.22, -4.03, 0.78). The costmap cannot raytrace for it.
[component_container_isolated-1] [WARN] [1702920742.541108057] [nav2_costmap_2d]: Robot is out of bounds of the costmap!
[component_container_isolated-1] [WARN] [1702920742.541148333] [local_costmap.local_costmap]: Sensor origin at (7263490040.02, -5.51) is out of map bounds (-9019431321.60, -7.00) to (-9019431318.62, -4.03). The costmap cannot raytrace for it.
[component_container_isolated-1] [WARN] [1702920742.541244577] [local_costmap.local_costmap]: Sensor origin at (7263490040.02, -5.51 0.18) is out of map bounds (-9019431321.60, -7.00, 0.00) to (-9019431318.62, -4.03, 0.78). The costmap cannot raytrace for it.
Issue: No generated costmap
Reason: Wrong odom value
SOLUTION:
Change:
std::array<double, 2> diff_joint_positions_;
double imu_angle_;
std::array<double, 3> robot_pose_;
std::array<double, 3> robot_vel_;
To:
std::array<double, 2> diff_joint_positions_ = {0.0, 0.0};
double imu_angle_ = 0.0;
std::array<double, 3> robot_pose_ = {0.0, 0.0, 0.0};
std::array<double, 3> robot_vel_ = {0.0, 0.0, 0.0};