[cartographer_node-1] ERROR: unknown command line flag

[AndreasAZiegler]

Bug report

Required Info:

• Operating System:
  • Ubuntu 18.04.1 LTS
• Version or commit hash:
  • ec4904b
• DDS implementation:
  • standard (I guess Fast-RTPS)

Steps to reproduce issue

• In the first terminal in workspace

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models
export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

• In the second terminal in workspace

ros2 launch nav2_bringup nav2_navigation_launch.py

• In the third terminal in workspace

ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True

Expected behavior

Cartographer starting up and robot shown in rviz2

Actual behavior

Cartographer gives the following errors:

ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True
[WARN] [rcl]: Found remap rule 'use_sim_time:=True'. This syntax is deprecated. Use '--ros-args --remap use_sim_time:=True' instead.
[INFO] [launch]: All log files can be found below /home/andreasziegler/.ros/log/2019-10-29-15-26-54-078724-AndreasZiegler-1779
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [cartographer_node-1]: process started with pid [1792]
[INFO] [occupancy_grid_node-2]: process started with pid [1793]
[INFO] [rviz2-3]: process started with pid [1794]
[occupancy_grid_node-2] ERROR: unknown command line flag 'params-file'
[occupancy_grid_node-2] ERROR: unknown command line flag 'r'
[occupancy_grid_node-2] ERROR: unknown command line flag 'ros-args'
[cartographer_node-1] ERROR: unknown command line flag 'params-file'
[cartographer_node-1] ERROR: unknown command line flag 'r'
[cartographer_node-1] ERROR: unknown command line flag 'ros-args'
[ERROR] [occupancy_grid_node-2]: process has died [pid 1793, exit code 1, cmd '/opt/ros/eloquent/lib/cartographer_ros/occupancy_grid_node -resolution 0.05 -publish_period_sec 1.0 --ros-args -r __node:=occupancy_grid_node --params-file /tmp/launch_params_738fh22r'].
[ERROR] [cartographer_node-1]: process has died [pid 1792, exit code 1, cmd '/opt/ros/eloquent/lib/cartographer_ros/cartographer_node -configuration_directory /home/andreasziegler/ros/ros2_turtlebot3_ws/install/turtlebot3_cartographer/share/turtlebot3_cartographer/config -configuration_basename turtlebot3_lds_2d.lua --ros-args -r __node:=cartographer_node --params-file /tmp/launch_params_46p7kg0a'].

Additional information

I installed ros eloquent via apt. To install the navigation stack and to install the turtlebot stuff, I followed this guide.

[mlherd]

@AndreasAZiegler

If you followed the instructions in the use case tutorial, they are for ROS2 Dashing. In ROS2 Elequent (Master branch) the way you should set arguments is different. I will update the tutorial, but in the meantime, you can try to use the following command instead.

ros2 launch turtlebot3_cartographer cartographer.launch.py --ros-args use_sim_time:=True

Also, here you can find more information about how to set parameters and do remapping in the commend line.

[AndreasAZiegler]

@mlherd Thanks for your answer
With

ros2 launch turtlebot3_cartographer cartographer.launch.py --ros-args use_sim_time:=True

I do not longer get the

[WARN] [rcl]: Found remap rule 'use_sim_time:=True'. This syntax is deprecated. Use '--ros-args --remap use_sim_time:=True' instead.

But I still get these errors which seem to crash the cartographer_node

[occupancy_grid_node-2] ERROR: unknown command line flag 'params-file'
[occupancy_grid_node-2] ERROR: unknown command line flag 'r'
[occupancy_grid_node-2] ERROR: unknown command line flag 'ros-args'
[ERROR] [occupancy_grid_node-2]: process has died [pid 3003, exit code 1, cmd '/opt/ros/eloquent/lib/cartographer_ros/occupancy_grid_node -resolution 0.05 -publish_period_sec 1.0 --ros-args -r __node:=occupancy_grid_node --params-file /tmp/launch_params_axv1re_t'].
[cartographer_node-1] ERROR: unknown command line flag 'params-file'
[cartographer_node-1] ERROR: unknown command line flag 'r'
[cartographer_node-1] ERROR: unknown command line flag 'ros-args'
[ERROR] [cartographer_node-1]: process has died

[mlherd]

It seems like I forgot to add -p :) Can you try the following command instead.

ros2 launch turtlebot3_cartographer cartographer.launch.py --ros-args -p use_sim_time:=True

[AndreasAZiegler]

Unfortunately, it looks like it makes no difference:

ros2 launch turtlebot3_cartographer cartographer.launch.py --ros-args -p use_sim_time:=True
[INFO] [launch]: All log files can be found below /home/andreasziegler/.ros/log/2019-10-30-11-01-55-090948-AndreasZiegler-2211
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [cartographer_node-1]: process started with pid [2226]
[INFO] [occupancy_grid_node-2]: process started with pid [2227]
[INFO] [rviz2-3]: process started with pid [2228]
[occupancy_grid_node-2] ERROR: unknown command line flag 'params-file'
[occupancy_grid_node-2] ERROR: unknown command line flag 'r'
[occupancy_grid_node-2] ERROR: unknown command line flag 'ros-args'
[ERROR] [occupancy_grid_node-2]: process has died [pid 2227, exit code 1, cmd '/opt/ros/eloquent/lib/cartographer_ros/occupancy_grid_node -resolution 0.05 -publish_period_sec 1.0 --ros-args -r __node:=occupancy_grid_node --params-file /tmp/launch_params_mmo84aca'].
[cartographer_node-1] ERROR: unknown command line flag 'params-file'
[cartographer_node-1] ERROR: unknown command line flag 'r'
[cartographer_node-1] ERROR: unknown command line flag 'ros-args'
[ERROR] [cartographer_node-1]: process has died [pid 2226, exit code 1, cmd '/opt/ros/eloquent/lib/cartographer_ros/cartographer_node -configuration_directory /home/andreasziegler/ros/ros2_turtlebot3_ws/install/turtlebot3_cartographer/share/turtlebot3_cartographer/config -configuration_basename turtlebot3_lds_2d.lua --ros-args -r __node:=cartographer_node --params-file /tmp/launch_params_7xkwqfop'].

[AndreasAZiegler]

Is there anything else I could provide to help troubleshooting?

[yathartha3]

@AndreasAZiegler

If it is params file causing the problem you can specify the param file that you want to use in the launch file itself. Maybe peeking at nav2_bringup.launch in the nav2_bringup directory will help.
Are you using the latest ROS2?

[AndreasAZiegler]

The only places I found params-file was in src/navigation2/nav2_system_tests/src/updown/test_updown_launch.py and in /src/navigation2/nav2_common/nav2_common/launch/node.py but as cartographer_node is started directly in cartographer.launch.py I don't think that's related.

Could it be related to this issue?

I just pulled the master branch and have commit 1a1070ae8fd4aa19436773bd0877f5ec093f9170

[mlherd]

@AndreasAZiegler Which method did you use to build or install Cartographer?

[AndreasAZiegler]

I installed it view apt-get install and have the following packages installed:

ros-eloquent-cartographer                           1.0.0-1bionic.20191024.042253        amd64        Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
ros-eloquent-cartographer-ros                       1.0.9000-1bionic.20191024.122706     amd64        Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
ros-eloquent-cartographer-ros-msgs                  1.0.9000-1bionic.20191024.070421     amd64        ROS messages for the cartographer_ros package

[mlherd]

It seems like the turtlebot_cartographer launch file needs to be updated for eloquent or the way the cartographer nodes are executed is not correct. I would open an issue in their repo and check if anyone has run into the same issue.

It requires a little bit more work, but you can look at what they do in their launch file and try to execute the nodes yourself. I haven't tested cartographer eloquent release to create maps yet, but I was able to install the package via apt and run cartographer_node and occupancy_grid_node individually.

ex:
ros2 run cartographer_ros cartographer_node -configuration_directory PATH_TO/config -configuration_basename turtlebot3_lds_2d.lua

PS: This might happen because Cartographer is not maintained and updated regularly.

[mlherd]

Since this is not a Navigation2 related issue, I close it. When you find a solution to this issue, please feel free to add a comment. I will do the same.

[ribinmathew]

It seems like the turtlebot_cartographer launch file needs to be updated for eloquent or the way the cartographer nodes are executed is not correct. I would open an issue in their repo and check if anyone has run into the same issue.

It requires a little bit more work, but you can look at what they do in their launch file and try to execute the nodes yourself. I haven't tested cartographer eloquent release to create maps yet, but I was able to install the package via apt and run cartographer_node and occupancy_grid_node individually.

ex:
ros2 run cartographer_ros cartographer_node -configuration_directory PATH_TO/config -configuration_basename turtlebot3_lds_2d.lua

ran into same issue...