Re: RTAB-Map occupancy grid map error in Turtlebot3 Gazebo

Posted by yclo3 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-occupancy-grid-map-error-in-Turtlebot3-Gazebo-tp5886p5921.html

Hi,

Doesn't your turtlebot3_gazebo print inf range on "rostopic echo /scan" ?

I didn't get the meaning of "inf values should be discard".
Is it turtlebot3_gazebo should discard inf values so that "rostopic echo /scan" shouldn't print inf values,
Or RTAB-Map would discard the inf values?

I followed your instruction to launch rtabmap.launch without setting Grid/RangeMax and reproduced the error on requesting graphview in rtabmapviz. Then I set Grid/RangeMax, requesting graphview and got this fatal error:

...
[ INFO] [1559612821.527029555, 69.909000000]: rtabmap (7): Rate=1.00s, Limit=0.000s, RTAB-Map=0.0558s, Maps update=0.0013s pub=0.0000s (local map=1, WM=1)
[ INFO] [1559612822.581598235, 70.936000000]: rtabmap (8): Rate=1.00s, Limit=0.000s, RTAB-Map=0.0604s, Maps update=0.0021s pub=0.0001s (local map=1, WM=1)
[FATAL] (2019-06-04 09:47:03.346) OccupancyGrid.cpp:1302::update() Condition (pt.y>=0 && pt.y < map.rows && pt.x>=0 && pt.x < map.cols) not met! [1: pt=(-2147483648,-2147483648) map=99x123 rawPt=(-nan,-nan) xMin=-3.458823 yMin=-3.077035 channels=2vs3 (graph modified=0)]
[ INFO] [1559612823.802955428, 72.136000000]: rtabmap (9): Rate=1.00s, Limit=0.000s, RTAB-Map=0.0467s, Maps update=0.0028s pub=0.0000s (local map=1, WM=1)
[ INFO] [1559612824.755927756, 73.075000000]: rtabmap (10): Rate=1.00s, Limit=0.000s, RTAB-Map=0.0400s, Maps update=0.0013s pub=0.0001s (local map=1, WM=1)
...

This must also caused by the inf value ranges.
I may have to check my installation of turtlebot3_gazebo.

Sincerely,
YC