Posted by
baike960 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Some-confusion-about-navigation-tp3692p3701.html
Hi Mathieu,
Thank you for the quick reply. I did the SLAM mapping+ object recognition before, and I will probably do navigation simulation alone without them later. However, right now as I am following the tutorial in the second link you posted earlier
http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot#Simulation_.28Gazebo.29, I encountered this problem in 6. SImulation(Gazebo) Section when typing the command $ roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true :
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20*16384 ir: 60*8*33792
[Info] [Freenect2DeviceImpl] opened
[ERROR] [1503993422.707966686, 523.120000000]: Unsupported IR video mode - Resolution: 640x480@30Hz Format: Gray16
[ERROR] [1503993422.708616952, 523.120000000]: Unsupported color video mode - Resolution: 640x480@30Hz Format: RGB888
[ERROR] [1503993422.709901125, 523.120000000]: Could not set auto exposure. Reason: void openni2_wrapper::OpenNI2Device::setAutoExposure(bool) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.2.7/src/openni2_device.cpp @ 534 : Couldn't set auto exposure:
Stream setProperty(101) failed
[ERROR] [1503993422.710029618, 523.120000000]: Could not set auto white balance. Reason: void openni2_wrapper::OpenNI2Device::setAutoWhiteBalance(bool) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.2.7/src/openni2_device.cpp @ 550 : Couldn't set auto white balance:
Stream setProperty(100) failed
[ INFO] [1503993423.518752883, 523.930000000]: Starting color stream.
[Info] [Freenect2DeviceImpl] starting...
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [Freenect2DeviceImpl] started
[ INFO] [1503993423.871257083, 524.280000000]: Starting depth stream.
fx=1081.37,fy=1081.37,cx=959.5,cy=539.5
fx=365.779,fy=365.779,ix=256.458,iy=210.461,k1=0.0907644,k2=-0.271645,k3=0.0955216,p1=0,p2=0
[ INFO] [1503993424.239420518, 524.640000000]: using default calibration URL
[ INFO] [1503993424.240844723, 524.640000000]: camera calibration URL: file:///home/autodriving/.ros/camera_info/rgb_Kinect_Microsoft.yaml
[ INFO] [1503993424.243808072, 524.640000000]: Unable to open camera calibration file [/home/autodriving/.ros/camera_info/rgb_Kinect_Microsoft.yaml]
[ WARN] [1503993424.246476496, 524.640000000]: Camera calibration file /home/autodriving/.ros/camera_info/rgb_Kinect_Microsoft.yaml not found.
[ INFO] [1503993425.002673558, 525.360000000]: rtabmap (21): Rate=1.00s, Limit=0.700s, RTAB-Map=0.7054s, Maps update=0.0071s pub=0.0023s (local map=1, WM=1)
[ INFO] [1503993425.022215522, 525.370000000]: Resizing costmap to 30 X 35 at 0.050000 m/pix
[ WARN] [1503993425.114871061, 525.460000000]: Messages of type 2 arrived out of order (will print only once)
[ WARN] [1503993425.119696179, 525.460000000]: Messages of type 0 arrived out of order (will print only once)
[ INFO] [1503993425.122634686, 525.470000000]: Received a 30 X 35 map at 0.050000 m/pix
[ INFO] [1503993425.143499979, 525.490000000]: Using plugin "obstacle_layer"
[ INFO] [1503993425.151891380, 525.490000000]: Subscribed to Topics: scan bump
[ INFO] [1503993425.758881146, 526.070000000]: Using plugin "inflation_layer"
[ INFO] [1503993425.783615740, 526.090000000]: rtabmap (22): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0616s, Maps update=0.0010s pub=0.0016s (local map=2, WM=2)
[ERROR] [1503993425.826417312, 526.130000000]: You must specify at least three points for the robot footprint, reverting to previous footprint.
[Info] [DepthPacketStreamParser] 30 packets were lost
[ INFO] [1503993426.262796009, 526.570000000]: Using plugin "obstacle_layer"
[ INFO] [1503993426.385716607, 526.680000000]: Subscribed to Topics: scan bump
[ INFO] [1503993426.592971731, 526.890000000]: Using plugin "inflation_layer"
[ERROR] [1503993426.631156896, 526.930000000]: You must specify at least three points for the robot footprint, reverting to previous footprint.
[Info] [DepthPacketStreamParser] 14 packets were lost
[ INFO] [1503993426.875021019, 527.150000000]: rtabmap (23): Rate=1.00s, Limit=0.700s, RTAB-Map=0.1289s, Maps update=0.0008s pub=0.0019s (local map=3, WM=3)
[ INFO] [1503993426.883978263, 527.160000000]: Created local_planner dwa_local_planner/DWAPlannerROS
[ INFO] [1503993426.904017725, 527.170000000]: Sim period is set to 0.20
[Info] [DepthPacketStreamParser] 15 packets were lost
[ INFO] [1503993427.948860795, 528.220000000]: rtabmap (24): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0799s, Maps update=0.0016s pub=0.0025s (local map=4, WM=4)
[ INFO] [1503993428.248215688, 528.530000000]: Recovery behavior will clear layer obstacles
[ INFO] [1503993428.378034405, 528.660000000]: Recovery behavior will clear layer obstacles
[Info] [VaapiRgbPacketProcessor] avg. time: 21.853ms -> ~45.7604Hz
[ INFO] [1503993428.578606233, 528.840000000]: Resizing costmap to 48 X 50 at 0.050000 m/pix
[ INFO] [1503993428.581037138, 528.850000000]: odom received!
[Info] [DepthPacketStreamParser] 15 packets were lost
[ INFO] [1503993429.024408663, 529.260000000]: rtabmap (25): Rate=1.00s, Limit=0.700s, RTAB-Map=0.0876s, Maps update=0.0009s pub=0.0016s (local map=5, WM=5)
[ INFO] [1503993429.024809464, 529.270000000]: Resizing costmap to 48 X 50 at 0.050000 m/pix
[Info] [DepthPacketStreamParser] 15 packets were lost
[FATAL] (2017-08-29 15:57:09.956) MsgConversion.cpp:1118::convertRGBDMsgs() Condition (depthMsgs[i]->image.cols == imageWidth && depthMsgs[i]->image.rows == imageHeight) not met! [imageWidth=512 vs 640 imageHeight=424 vs 480]
terminate called after throwing an instance of 'UException'
what(): [FATAL] (2017-08-29 15:57:09.956) MsgConversion.cpp:1118::convertRGBDMsgs() Condition (depthMsgs[i]->image.cols == imageWidth && depthMsgs[i]->image.rows == imageHeight) not met! [imageWidth=512 vs 640 imageHeight=424 vs 480]
[ INFO] [1503993430.488470623, 530.740000000]: Stopping color stream.
[rtabmap/rtabmap-19] process has died [pid 9489, exit code -6, cmd /opt/ros/kinetic/lib/rtabmap_ros/rtabmap scan:=/scan rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/image_raw rgb/camera_info:=/camera/rgb/camera_info grid_map:=/map __name:=rtabmap __log:=/home/autodriving/.ros/log/2a54ec6e-8bcf-11e7-8f3e-1c872c5ffb7c/rtabmap-rtabmap-19.log].
log file: /home/autodriving/.ros/log/2a54ec6e-8bcf-11e7-8f3e-1c872c5ffb7c/rtabmap-rtabmap-19*.log
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling rgb transfers...
[ WARN] [1503993430.589884144, 530.850000000]: Costmap2DROS transform timeout. Current time: 530.8500, global_pose stamp: 530.2600, tolerance: 0.5000
[ WARN] [1503993430.590026985, 530.850000000]: Could not get robot pose, cancelling reconfiguration
[Info] [Freenect2DeviceImpl] canceling depth transfers...
[Info] [Freenect2DeviceImpl] stopped
[ WARN] [1503993431.579430502, 531.850000000]: Costmap2DROS transform timeout. Current time: 531.8500, global_pose stamp: 530.2600, tolerance: 0.5000
[ WARN] [1503993431.579529826, 531.850000000]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1503993432.575706057, 532.850000000]: Costmap2DROS transform timeout. Current time: 532.8500, global_pose stamp: 530.2600, tolerance: 0.5000
[ WARN] [1503993432.575763305, 532.850000000]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1503993433.574230622, 533.850000000]: Costmap2DROS transform timeout. Current time: 533.8500, global_pose stamp: 530.2600, tolerance: 0.5000
[ WARN] [1503993433.574274029, 533.850000000]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1503993434.574195208, 534.850000000]: Costmap2DROS transform timeout. Current time: 534.8500, global_pose stamp: 530.2600, tolerance: 0.5000
[ WARN] [1503993434.574261510, 534.850000000]: Could not get robot pose, cancelling reconfiguration
[ WARN] [1503993435.574699277, 535.850000000]: Costmap2DROS transform timeout. Current time: 535.8500, global_pose stamp: 530.2600, tolerance: 0.5000
[ WARN] [1503993435.574810140, 535.850000000]: Could not get robot pose, cancelling reconfiguration
Do you know what is going on?