Re: Demo RTAB-Map on Turtlebot
Posted by Mike on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Demo-RTAB-Map-on-Turtlebot-tp439p476.html
Hey Mr. Labble
I'm having the same problem as André, and I rather turtlebot 2 but'm having an error when running minimal.launch referencing the rtabmap believe is the cause of this error in the TF mapping follows the error.
Turning the minimal.launch:
process [robot_state_publisher-2]: started with pid [11187]
process [diagnostic_aggregator-3]: started with pid [11208]
process [mobile_base_nodelet_manager-4]: started with pid [11223]
[ERROR] [1433249303.056507050]: Skipping XML Document "/opt/ros/hydro/share/rtabmap_ros/nodelet_plugins.xml" which had the Root Element. Likely this means the XML is malformed or missing.
process [mobile_base-5]: started with pid [11267]
process [cmd_vel_mux-6]: started with pid [11314]
process [bumper2pointcloud-7]: started with pid [11338]
process [turtlebot_laptop_battery-8]: started with pid [11395]
Turning the launch showed ; presented the following messages only:
2 roslaunch rtabmap_ros demo_turtlebot_mapping.launch rgbd_odometry: = true args: = "- delete_db_on_start".
[INFO] [1433250311.397060290]: rtabmap: Deleted database "rtabmap.db" (--delete_db_on_start is set).
[WARN] [1433250311.429969779]: Waiting on transform from base_footprint to map to Become available before running costmap, tf error:
[INFO] [1433250314.006630149]: rtabmap: Using database from "rtabmap.db".
[INFO] [1433250314.792228083]: Registering Depth + LaserScan callback ...
[INFO] [1433250314.809703165]: rtabmap started ...
[INFO] [1433250316.037499055]: Odom: quality = 0, std dev = 0.000000m, update time = 0.074587s
[WARN] (06/02/2015 22: 05: 16,213) Odometry.cpp: 377 :: computeTransform () Transform not valid (inliers = 15/25)
[INFO] [1433250316.216543434]: Odom: quality = 15, std dev = 0.000000m, update time = 0.126866s
[WARN] (06/02/2015 22: 05: 16,330) Odometry.cpp: 382 :: computeTransform () Not enough inliers 19 <20
[INFO] [1433250316.331263324]: Odom: quality = 0, std dev = 0.000000m, update time = 0.100024s
[WARN] (06/02/2015 22: 05: 16,420) Odometry.cpp: 377 :: computeTransform () Transform not valid (inliers = 16/26)
[INFO] [1433250316.421180111]: Odom: quality = 16, std dev = 0.000000m, update time = 0.069703s
[WARN] [1433250316.501404960]: Waiting on transform from base_footprint to map to Become available before running costmap, tf error:
[WARN] (06/02/2015 22: 05: 16,525) Odometry.cpp: 377 :: computeTransform () Transform not valid (inliers = 10/27)
[INFO] [1433250316.526646573]: Odom: quality = 10, std dev = 0.000000m, update time = 0.071024s
So I believe that ran normally when running rviz not had the error in the global status as before, but we are yet to see the map on the grid !!