slam_toolbox rviz plugin

The rviz_imu_plugin package is used to display sensor_msgs/Imu messages in rviz. The problem is that your setup-noetic.sh script installs Slam Toolbox in such a way that the Slam Toolbox Rviz Plugin is not displayed in the rviz display when "roslaunch arlobot_ros view_navigation.launch" is run. logging to /home/thomas/.ros/log/83bb6d72-698e-11ec-b8f5-e5eb48c77c0d/roslaunch-thomas-desktop-11339.log Here I was thinking that you were greatly in need of it working. make: *** [Makefile:141: all] Interrupt [ERROR] [1640451452.432491635]: PluginlibFactory: The plugin for class 'slam_toolbox::SlamToolboxPlugin' failed to load. Sorry, my robot is in a bit of a disarray at the moment. I believe that the directory "slam_toolbox_rviz" is not being created in /opt/ros/noetic/share and populated with "rviz_plugins.xml" and "package.xml" at the very least during the build and installation of the Slam Toolbox for a start. I cannot even try it as I am running the Ubuntu 64 bit server install on my Pi, which has no desktop environment to load Rviz in. This allows for the tracking of local features which have changed in the environment rather than viewing them as deviations and removes these extra nodes when you leave an area to not effect the long term map. rviz version: 1.14.10. This package will allow you to fully serialize the data and pose-graph of the SLAM map to be reloaded to continue mapping, localize, merge, or otherwise manipulate. A magnifying glass. I have moved the issue where "view_navigation. KeyboardInterrupt. After "view_launch.rviz" threw the error, rviz launched, but would not display RPLidar data on the grid. My guess is that it would take ages to build on the Pi, but again, I haven't tried. If you get a map done, then in another terminal you can run this to save the map: ~/catkin_ws/src/ArloBot/scripts/save-map.sh my-new-map. Isn't the plugin only used by Rviz and not by the actual mapper on board? Save the file, and close it. File "/usr/lib/python3.8/subprocess.py", line 1806, in _wait Again, though, I don't actually ever use Slam Toolbox Plugin in Rviz. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. Is it going to drift? /joy_priority [ INFO] [1640882150.947925777]: RPLidar health status : OK. [rospack] Error: no package given In the past couple of weeks, as part of a project with Ross Robotics, Ive been exploring slam_toolbox by Steven Macenski. The video at https://youtu.be/k15B0RdpVYQ demonstrates what it should look like, although I do see it is showing the Slam Toolbox Plugin loaded, again, I never use it. Next we can create a launch file to display the map - I used the example in nav2_bringup as my starting place and . No "checkmark Status: Ok", Sanity check: After the catkin_make build failed, I figured what the heck and ran "sudo apt install ros-noetic-slam-toolbox" which as usual installed without issue. git clone -b noetic-devel https://github.com/SteveMacenski/slam_toolbox.git 3) roslaunch arlobot_ros rplidar.launch, roslaunch arlobot_ros view_navigation.launch, Set the Global Options->Fixed Frame to "odom. In larger maps, the interactive markers will overload RVIZ so its mostly useful as a debug instrument in smaller maps or for introspection. make[2]: *** [slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/build.make:102: slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/src/laser_utils.cpp.o] Interrupt graph_rviz_plugin.svg package.xml plugin.xml README.md Overview This package contains two Qt RViz panels that allows users to draw graphs of topics values dynamically (line graph) and. P.S. The package contains a node called slam_gmapping, which is the implementation of SLAM and helps to create a 2D occupancy grid map from the laser scan data and the mobile robot pose. Traceback (most recent call last): Output when I ran "roslaunch arlobot_ros rplidar.launch from a terminal on my PC: thomas@thomas-desktop:~$ roslaunch arlobot_ros rplidar.launch ), (This is the equivalent of starting a map in the web interface.). cd ~/catkin_ws/src/ I have run the following on the Rpi Ubuntu desktop terminals without getting Lidar scan data in the rviz display window even after changing "map" to "odom": I do get the red/green axes displayed in the center of the grid, but no laser scan data. Checking log directory for disk usage. SLAM 5. ROS drop in replacement to gmapping, cartographer, karto, hector, etc featuring a feature complete SLAM build on the robust scan matcher at the heart of Karto that's been souped up and sped up for use in this package. /odom /tf_static So at least it can work, if only on my individual setup.>. [ERROR] [1640451452.432491635]: PluginlibFactory: The plugin for class 'slam_toolbox::SlamToolboxPlugin' failed to load. On Sat, Jan 1, 2022 at 4:03 PM Christen Lofland ***@***. /rosout / What do you use to generate map data, save it, and then play the map data back so the robot can move around the room? That might be completely off the mark though if I'm failing to understand your problem. No "RPLidarLaserScan" appeared with a checkmark return self._wait(timeout=timeout) RPLidar A1M8 Installed ROS Noetic, modules, dependencies, and Slam Toolbox using the setup-noetic.sh script at Chris Lofland's Arlobot Github. /buttons /map_updates Running ran "rostopic echo pc_pub" verifies that the pointcloud is indeed being published to this topic and octomap_server is Subscribing into the topic too. Have a question about this project? I don't think that the Slam Toolbox Plugin errors are related to the lack of RPLidar data. So far so good. The Slam Toolbox package is installed automatically because the ROS Arlobot package depends on it, but there is no dependency on the -rviz package. Run "roslaunch rplidar_ros view_rplidar.launch" or run "roslaunch arlobt_ros view_navigation.launch. File "/usr/lib/python3.8/subprocess.py", line 1083, in wait Slam Toolbox version: (1.5.6-1focal.20210922.203113) which is the latest https://github.com/SteveMacenski/slam_toolbox.git, Did a fresh install of Ubuntu 20.04.3 on a Rpi 4B/4GB, In stalled ROS Noetic desktop so the install included rqt and rviz. This was created in response to inadequate mapping and localization quality from GMapping, Karto, Cartographer and AMCL in massive and dynamic indoor environments, though it has been tested and deployed on sidewalk robots as well. Ran "roslaunch rplidar_ros view_rplidar.launch" from the Rpi 4B Ubuntu desktop, Expected result: RPLidar output displayed in rviz1on the Rpi 4B Ubuntu desktop. Traceback (most recent call last): run_command(cmd, make_path) Manipulation 8. ROS_MASTER_URI=http://localhost:11311, setting /run_id to 83bb6d72-698e-11ec-b8f5-e5eb48c77c0d I just did a clean install of noetic on my Ubuntu 20.04 machine, installed slam toolbox and all of the related packages and opened rviz and works fine. File "/opt/ros/noetic/lib/python3/dist-packages/catkin/builder.py", line 241, in run_command (pid, sts) = os.waitpid(self.pid, wait_flags) So again it looks like there is an issue with the "laser_utils.ccc.o" build? I did not try to do any mapping since rviz will not show A1M8 RPLidar scan data when I run "view_navigation.launch". Weak Copyleft License, Build available. Already on GitHub? [librospack]: error while executing command This may be the solution to the Slam Toolbox Plugin issue. I then launched "view_navigation.launch" which opened rviz without the Slam Toolbox Plugin error. /rosout_agg done Once you get Rviz set up the way you want it, you can just overwrite the settings with your own by saving under the Files menu I think it is, or just run Rviz and I believe it will load the previous settings automatically. I decided to see what would happen if I started ROS from the Arlobot web interface. The first test weve run was with the default parameters that come with slam_toolbox with minor changes (frame names, and max laser range). shutting down processing monitor Sign up for a free GitHub account to open an issue and contact its maintainers and the community. Stay tuned for more information about the hardware and open source that we use! This includes: Powered by Jekyll & Minimal Mistakes. The .rviz files are just a way of saving the current state of Rviz. checkmark Status: Ok, Actual result: RPLidar output displayed in rviz1on the Rpi 4B Ubuntu desktop /move_base_simple/goal Wrap rclcpp::Node with basic Lifecycle behavior? I've setup all the prerequisite for using slam_toolbox with my robot interfaces: launch for urdf and . log file: /home/thomas/.ros/log/0dcde9bc-65a3-11ec-bd19-0b651bddef40/rviz-1*.log Error: According to the loaded plugin descriptions the class slam_toolbox::SlamToolboxPlugin with base class type rviz::Panel does not exist. Friends (Locomotion) 12. More information, ROS API, demos, and resources are given in the GitHub page. Because everyone's hardware is unique, and because the dependencies change daily, this project will always require a fair amount of "tweaking" by anyone using it. So if you were able to see RPLidar data in Rviz at any point, then it appears everything is working. [ 84%] Building CXX object slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/src/laser_utils.cpp.o, ^Cmake[2]: *** [slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/build.make:63: slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/src/slam_toolbox_common.cpp.o] Interrupt I believe that the directory "slam_toolbox_rviz" is not being created in /opt/ros/noetic/share and populated with "rviz_plugins.xml" and "package.xml" at the very least during the build and installation of the Slam Toolbox for a start. I use the sudo apt install method for installing Slam Toolbox, although I have also used catkin_make on x86 I have not tried it on Pi. cd .. Already on GitHub? Are you using ROS 2 (Dashing/Foxy/Rolling)? Installed ros_rplidar to ensure that rviz was working and displayed the output of the RPLidar A1M8. So far the best thing for us about this package is the performance. privacy statement. Leave this open though and I will revert bde7aa1 and remove the reference to the Plugin from the .rviz file instead later on. [master] killing on exit Installed ros_rplidar to ensure that rviz was working and displayed the output of the RPLidar A1M8. If I put my hand within two inches in front of the forward center PING, Arlo will turn the wheels in reverse to backup and will stop the wheels when I take my hand away. /cmd_vel_mux/input/navi base_link transform from wheel odometry. /arlo_status I get the same response, shown below, whether I am running your ArloBot software on my Rpi 4B/4GB or my LATTEPANDA 4GB/64GB eMMC atom quad core X86 SBC: process[rviz-1]: started with pid [5102] checkmark Status: Ok. My Arlobot is up on blocks and there is plenty of room in front of the PING sensors (>70cm). /move_base/GlobalPlanner/plan So I selected "Add New Panel" and when the "Panel Type" display opened, there was the "Slam Toolbox Plugin" under the "slam_toolbox_rviz folder. thomas@thomas-desktop:$. It appears to get into a wait state that it never comes out of. It displays the orientation of the IMU using a box as well as and coordinate axes. First, suppose that a ROS package exists containing a polygon base class ("polygon_interface_package"). process[master]: started with pid [11357] In ROS, as a good practice, we usually have a TF tree setup in the following way (at least as a minimum when doing SLAM): If you would like to know more about the transforms then REP-105 is your friend. This project contains the ability to do most everything any other available SLAM library, both free and paid, and more. cd ~/catkin_ws_slam_toolbox/src I have adjusted your "roslaunch arlobot_ros rplidar.launch" script to reflect my A1M8 configuration, but I guess that something still needs to be adjusted? gedit nav2_config.rviz Copy and paste this code inside the file. Has anyone besides yourself and me installed your Ubuntu 20.04.3/ROS Noetic software and got "roslaunch arlobot_ros view_navigation.launch" to run from the Ubuntu Desktop without the error about the Slam Toolbox Plugin not being in the loaded plugin descriptions? Hi all, I'm facing a problem using the slam_toolbox package in localization mode with a custom robot running ROS2 Foxy with Ubuntu 20.04 I've been looking a lot about how slam and navigation by following the tutorials on Nav2 and turtlebot in order to integrate slam_toolbox in my custom robot. If I put my hand within two inches of either the right or left 60 deg mounted front sensors, Arlo will not attempt to turn away either to the right or the left. Saving that map and reloading it and using it again. I used the robot localization package to fuse the imu data with the wheel encoder data, set to publish the odom->base_footprint transform, then, the slam toolbox creates the map->odom transform. However I think that the issue has been that we both have been using "apt install ros-noetic-slam-toolbox" and not "apt install ros-noetic-slam-toolbox-rviz" as you did. Print complete message received in ROS2 C++ subscriber callback, Creative Commons Attribution Share Alike 3.0. colcon_cd basic_mobile_robot cd rviz Create a new RViz file. make[1]: *** [CMakeFiles/Makefile2:2358: slam_toolbox/slam_toolbox/CMakeFiles/ceres_solver_plugin.dir/all] Interrupt ROS 2 Documentation. I have previously used "~/catkin_ws/src/ArloBot/scripts/PropellerSerialTest.sh" to validate motor control and PING sensor range values. Run Rviz on another computer. I wouldn't do that. What youve seen in this blog post are only the first trials with this SLAM package. Thanks for pointing out that it can work! /joint_states Chris had some issues installing the Slam Toolbox as seen in closed issue #291 and it looks like there are still issues now. Other non-autoware images might have some useful insights from that thread. [rospack] Error: no package given You signed in with another tab or window. Leave this issue open and I'll work on the setup at some point. Features 3. rosdep install -q -y -r --from-paths src --ignore-src What process can I use to add the "Class: slam_toolbox::SlamToolboxPlugin" to the rviz loaded plugin descriptions? When running the roslaunch commands in "Basic TeleOp with 3D sensor use" I received this error when running "roslaunch arlobot_ros view_navigation.launch" from the Ubuntu Desktop: process[rviz-1]: started with pid [5102] Additionally: Well occasionally send you account related emails. You missed the ^C to shut the node down. This should be fixed now. You can set destination points for the robot to go to within the visible area, and it should go to them and start building the map as it goes. I use the robot state publisher to publish the transform between the base footprint and the rest of the robot. Thanks for the insights and advice, much appreciated. The Slam Toolbox package incorporates information from laser scanners in the form of a LaserScan message and TF transforms from odom->base link, and creates a map 2D map of a space. [librospack]: error while executing command The robot displays the Cartesian path plan again. It is not required for any of the mapping features. cd .. The rplidar launched, followed by startup data and then rviz opened. The issue with the Slam Toolbox Plugin was the subject of issue #234 on Steve's github, but it looks like Steve's corrective action may not have cured the issue. Get the Viewport from its RenderWindow instead. Error: According to the loaded plugin descriptions the class slam_toolbox::SlamToolboxPlugin with base class type rviz::Panel does not exist. Here is the description of the package taken from the project repository: Slam Toolbox is a set of tools and capabilities for 2D SLAM built by Steve Macenski while at Simbe Robotics and in his free time. I can turn the ""Slam Toolbox Plugin" on and off using the "Panels" dropdown menu. Optionally run localization mode without a prior map for lidar odometry mode with local loop closures, synchronous and asynchronous modes of mapping, kinematic map merging (with an elastic graph manipulation merging technique in the works), plugin-based optimization solvers with a new optimized Google Ceres based plugin, RVIZ plugin for interating with the tools, graph manipulation tools in RVIZ to manipulate nodes and connections during mapping, Map serialization and lossless data storage, Robosynthesis differential-drive mobile robot development platform, RPLidar A1 (hobby grade, scanning at ~7Hz), Onboard computer running ROS Melodic and slam_toolbox (commit: 9b4fa1cc83c2f). /move_base/global_costmap/costmap Once I set the "Fixed Frame" to "odom", as per the instructions, the RPLidar view on the screen shows up. Sign in Repsonse: The build hangs at the 74% point in the same place as above: "Building CXX object slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/src/laser_utils.cpp.o". Navigation 6. The acceleration can be visualized using a vector. Also, in the "Add New Panel" "Panel Type" display there is no "slam_toolbox_rviz" file with the "Slam Toolbox Plugin" under it as described in my post above. Implement slam_toolbox with how-to, Q&A, fixes, code snippets. I get the feeling that the problem lies in the noetic version of slam toolbox which has an issue with getting the SlamToolBoxPlugin correctly integrated into rviz. The lidar sensor and it's ros drive which publishes the scan topic works fine as seen in rviz. The "SlamToolboxPlugin" appears in the "/share/slam_toolbox/config/slam_toolbox_default.rviz", however it does not appear in the rviz "plugin description.xml file.". top 10 winter anime 2022. convert rgba to hex javascript. Press Ctrl-C to interrupt I have users that are trying to use this right now and this is a blocker to their deployment of robot assets. The Slam Toolbox Plugin appears in the rviz "Panel" dropdown, but does not appear on the rviz desktop display. Since you now have your Arlobot software installed on a Rpi SBC, do you plan to identify the reason as to why the Slam Toolbox Plugin will not load on rviz or do you consider this a dead issue? The Slam Toolbox package incorporates information from laser scanners in the form of a LaserScan message and TF transforms from odom->base link, and creates a map 2D map of a space. all processes on machine have died, roslaunch will exit. Sometimes we run a competition in the office who can recite it faster! I have documented my/our efforts in issue #463 with no resolution of this issue. If I run "roslaunch rplidar_ros view_rplidar.launch" I get laser scan data in the rviz display grid. The robot plans a path to a pose goal. Slam Toolbox is a set of tools and capabilities for 2D SLAM built by Steve Macenski while at Simbe Robotics, maintained whil at Samsung Research, and largely in his free time. You could also build your own from scratch. It is just a convenience GUI for digging into the guts of Slam Toolbox's operation, which I never do. I think that part of the problem is that "rosdep install -q -y -r --from-paths src --ignore-src" is not installing all of the dependencies necessary to build the Slam Toolbox with catkin_make. RViz does not display topics from a separate node [solved] Help to model a 3 DOF robotic arm URDF. return self._wait(timeout=timeout) Moved the body of this post to issue #179. File "/usr/lib/python3.8/subprocess.py", line 1806, in _wait Attempted to install Slam Toolbox as follows. typescript frameworks backend; bloxlink discord shared calendar events not showing up on iphone shared calendar events not showing up on iphone to your account, SBC: Rpi 4B/4GB Simulation 7. Used the following to attempt to install the noetic-devel slam toolbox: I'm not able to get access to the . ros-noetic-slam-toolbox-rviz, I just did a clean install of noetic on my Ubuntu 20.04 machine, installed slam toolbox and all of the related packages and opened rviz and works fine.". Assistance porting it would always be appreciated :-) However the rviz plugin is not required to make SLAM Toolbox work, it just calls back-end services. I did not try to do any mapping since rviz will not show an RPLidar scan data when I run "view_navigation.launch". In RViz , we should be able to see the following: Press <enter> in the shell terminal where you ran the rosrun command in between each step The robot plans and moves its arm to the joint goal. The node didn't shutdown until I shut it down with a ^C. I also tried the following: Examples 11. You can hopefully see the room starting to take shape. Check out the ROS 2 Documentation, This package provides a sped up improved slam karto with updated SDK and visualization and modification toolsets. Create an RViz Configuration File Go to your rviz folder. Removed "- Class: slam_toolbox::SlamToolboxPlugin" (line 34) from ArloBot/ros/rviz/view_navigation.rviz, Removed "Name: SlamToolboxPlugin" (line 35) from ArloBot/ros/rviz/view_navigation.rviz, Removed "SlamToolboxPlugin:" (line 641) from ArloBot/ros/rviz/view_navigation.rviz, Removed "collapsed: false" (line 642) from ArloBot/ros/rviz/view_navigation.rviz, roslaunch arlobot_ros keyboard_teleop.launch. Then I ran "roslaunch rplidar_ros view_rplidar.launch". ERROR: Unable to communicate with master! "Thanks for the response, much appreciated. We need to troubleshoot the RPLidar data. Also "apt install ros-noetic-slam-toolbox" installs without any issues, but still no Slam Toolbox Plugin in the rviz1 Panel dropdown. [ INFO] [1640882150.896542393]: Firmware Ver: 1.29 /initialpose Used the following to attempt to install the noetic-devel slam toolbox: mkdir -p ~/catkin_ws_slam_toolbox/src Ensures interactive markers work (and . It is the same for reverse. Report a Bug Report a bug or request a feature. privacy statement. Install Slam Toolbox using "apt install ros-noetic-slam-toolbox" or with the Arlobot setup-rosnoetic.sh script the results are the same. "RPLidarLaserScan" appeared with a checkmark make[2]: *** [slam_toolbox/slam_toolbox/CMakeFiles/ceres_solver_plugin.dir/build.make:63: slam_toolbox/slam_toolbox/CMakeFiles/ceres_solver_plugin.dir/solvers/ceres_solver.cpp.o] Interrupt From the command line on the Pi you can run ip a and somewhere in the output you should see the inet address of your Pi. launch" will not display the Slamtech A1M8 RPLIdar output on rviz to issue #179 because it is not germane to the Slam Toolbox Plugin not loading on rviz. QXcbClipboard: Unable to receive an event from the clipboard manager in a reasonable time The navigation.rviz file was just me trying to provide a default setup that will show all of the required bits to operate and monitor the robot. I should probably update the setup script to just install both ros-noetic-slam-toolbox and ros-noetic-slam-toolbox-rviz directly. kandi ratings - Low support, No Bugs, No Vulnerabilities. The basic hardware requirement for doing SLAM is a laser scanner which is horizontally mounted on the top of the robot, and the robot odometry data. When using the Remote Control Panel with the mouse, if I push the small circle within the larger circle to the top edge of the large circle, Arlo will rotate the wheels in the forward direction for a while and then stop even though the small circle is at the top edge of the large circle. No motor control with the PC keyboard and no RPLidar output on the rviz1 on the Rpi 4B Ubuntu desktop. ^C[rplidarNode-2] killing on exit [rviz-1] process has finished cleanly Observation: My Arlo is up on blocks so it will not go anywhere. File "/opt/ros/noetic/bin/catkin_make", line 306, in Yes, it will! This should work: Visualizing that mapping session in Rviz either locally or remotely. RPLIDAR_USB_PORT=$(find_RPLIDAR.sh) /move_base/TrajectoryPlannerROS/local_plan As long as it works, I'm happy. [ INFO] [1640882150.896414840]: RPLIDAR S/N: D8B2EDF9C7E29BCEA7E39EF248614304 [rospack] Error: no package given /move_base/TebLocalPlannerROS/local_plan make[1]: *** [CMakeFiles/Makefile2:2358: slam_toolbox/slam_toolbox/CMakeFiles/ceres_solver_plugin.dir/all] Interrupt So the root problem seems to be nvidia-docker2 does not have OpenGL installed automatically inside it, and I found this thread to be very helpful regarding running rviz in autoware docker image. Your "view_navigation.launch" script which launches "/rviz/navigation.rviz" is causing the error above because the "Slam Toolbox Plugin does not exist in the rviz "plugin descriptions.xml" file due to a faulty install of the noetic Slam Toolbox software. Now you should have a fully functioning SLAM operation started. [ INFO] [1640882150.842095434]: RPLIDAR running on ROS package rplidar_ros, SDK Version:2.0.0 /ultrasonic_scan . A very helpful tool that comes with slam_toolbox is the RViz plugin (Panels->Add New Panel->slam_toolbox->SlamToolboxPlugin). OS: Ubuntu 20.04.3 1. For some reason your "setu-noetic.sh" script is incorrectly installing the noetic Slam Toolbox software such that a "slam_toolbox_rviz" file with the "Slam Toolbox Plugin" under it is not created in the "Panels" dropdown menu "Add New Panel" Panel Type" display. make[1]: *** [CMakeFiles/Makefile2:2331: slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/all] Interrupt /pause_navigation Done checking log file disk usage. Are you using catkin_make to install the Slam Toolbox or "sudo apt install ros-noetic-slam-toolbox"? The command is quite similar to ROS1, except you must pass the base name of the map (so here, I'm passing map, which means it will save map.yaml and map.pgm in the local directory): ros2 run nav2_map_server map_saver_cli -f map. Install ROS Noetic https://github.com/SteveMacenski/slam_toolbox.git, https://github.com/notifications/unsubscribe-auth/AAJO2HDXPV2BWEJBT4DDTTDUT5TZJANCNFSM5KX7XMWQ, https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675, https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub, by always install Slam Toolbox and Slam Toolbox Rviz p, Problem controlling the motors from the Arlobot Web Interace, Did a fresh install of Ubuntu 20.04.3 on a Rpi 4B/4GB, In stalled ROS Noetic desktop so the install included rqt and rviz. So at least it can work, if only on my individual setup. /cmd_vel_mux/input/joy make[1]: *** [CMakeFiles/Makefile2:2331: slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/all] Interrupt "RobotModel" appears in place of "RPLidarLaserScan" on the rviz1 Display so it looks like rviz is not receiving RPLIdar Laser Scan data. File "/opt/ros/noetic/lib/python3/dist-packages/catkin/builder.py", line 241, in run_command 1 5 5 comments Best Add a Comment You had some issues installing the Slam Toolbox as seen in Slam Toolbox closed issue #291 and it looks like there are still issues now. Slam Toolbox is a set of tools and capabilities for 2D SLAM built by Steve Macenski while at Simbe Robotics, maintained whil at Samsung Research, and largely in his free time. log file: /home/thomas/.ros/log/0dcde9bc-65a3-11ec-bd19-0b651bddef40/rviz-1*.log I have tried running just "roslaunch rplidar_ros view_rplidar.launch" and rviz opens without issue and displays the RPLidar output. Learn 13. Even maybe do a Zoom call or something? That makes sense. The package has been ticketed for inclusion in ROS. rplidarNode (rplidar_ros/rplidarNode), auto-starting new master make[2]: *** [slam_toolbox/slam_toolbox/CMakeFiles/ceres_solver_plugin.dir/build.make:63: slam_toolbox/slam_toolbox/CMakeFiles/ceres_solver_plugin.dir/solvers/ceres_solver.cpp.o] Interrupt Ok, fair enough. File "/usr/lib/python3.8/subprocess.py", line 1764, in _try_wait Also "apt install ros-noetic-slam-toolbox" installs without any issues, but still no Slam Toolbox Plugin in the rviz1 Panel dropdown. Everywhere I searched on Google, they are showing that I have to be able to add the RViZ plugin for the slam_toolbox using add panel menu in RViZ. You signed in with another tab or window. Then I ran "roslaunch rplidar_ros view_rplidar.launch". Any help would be much appreciated. /move_base/local_costmap/costmap I don't use it myself. However under the rviz "Panels" drop down there is no "Slam Toolbox Plugin" in the "Add New Panel" "Panel Type" display. I have done the following to try and correct this issue with the Slam Toolbox Plugin: Installed ROS Noetic, modules, dependencies, and Slam Toolbox using the setup-noetic.sh script at your Arlobot Github. Mat is a Robotics Consultant that works with Ross Robotics and the author of Weekly Robotics Newsletter. Example. That should make sure that everything is set up to use the RPLidar. We also introduce a new localization method called "elastic pose-graph localization" that takes a sliding window of measurements and adds them to the graph to optimize and refine. and I've been basically offline during the holiday season. /particlecloud Overview 2. For instance, on my network my robot is at http://192.168.1.116:8080/. [ 84%] Building CXX object slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/src/laser_utils.cpp.o, ^Cmake[2]: *** [slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/build.make:63: slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/src/slam_toolbox_common.cpp.o] Interrupt /arlobot_safety/safetyStatus So again it looks like there is an issue with the "laser_utils.ccc.o" build? Cannot find slam_toolbox RViZ plugin ros2 foxy rviz slam_toolbox asked Feb 4 '21 Farbod 1 2 2 2 Everywhere I searched on Google, they are showing that I have to be able to add the RViZ plugin for the slam_toolbox using add panel menu in RViZ. process[rplidarNode-2]: started with pid [11384] @kyrofa I finally fixed all the new snapcraft changes to get slam toolbox released before ROSCon. If the web interface is working, it might be simpler to start ROS form there, and either see the errors there, or if it works, then go run view-navigation.sh from the Pi inside of xWindows to see Rviz. I want to ensure that you can use it to accomplish the basic tasks demonstrated in the Youtube video: If that works, then I would consider everything 100% functional and no need to chase down random errors or missing pieces that aren't required. This includes: This package will allow you to fully serialize the data and pose-graph of the SLAM map to be reloaded to continue mapping, localize, merge, or otherwise manipulate. If you did edit it and still want to wipe your changes to test these changes do this: First, if you did install ros-noetic-slam-toolbox-rviz or even think it might be installed, remove it with this command: Next pull down my updated copy of everything: If so, then run this to clear your changes and try the pull again: Now you should have my copy of the navigation.rviz file and you can see if ~/catkin_ws/src/ArloBot/scripts/view-navigation.sh works as expected without errors. /arlobot_usbrelay/usbRelayStatus If I put my hand within two inches in front of the back center PING, Arlo will turn the wheels forward to go forward and will stop the wheels when I take my hand away. ROS: Noetic This may take a while. Are you using ROS 2 (Dashing/Foxy/Rolling)? Am I expecting teleop motor control from my PC when I shouldn't? The lidar sensor and it's ros drive which publishes the scan topic works fine as seen in rviz. I will need to know where the SlamToolboxPlugin resides and how to add it correctly (there does not appear to be a "base class type rviz::Panel") to the rviz "plugin description.xml". I'm not sure why the web interface isn't available to you. If I put my hand within two inches of either the right or left 60 deg mounted front PING sensors, Arlo will not attempt to turn away either to the right or the left. I wonder, have you tried opening up the IP Address of your robot's Pi at port 8080 to see if the web interface is up and working? So I selected "Add New Panel" and when the "Panel Type" display opened, there was the "Slam Toolbox Plugin" under the "slam_toolbox_rviz folder. I noticed in the output you said it ended like this: That text indicates that it is shutting down, as if as soon as you start it, it stops, which is going to just leave everything dead. The RecordingOpenGLAppsWithGLC page has more information on recording and encoding. (pid, sts) = os.waitpid(self.pid, wait_flags) Our expectation of slam_toolbox is to provide us with a map -> odom transform. /cmd_vel (pid, sts) = self._try_wait(0) The Pi isn't going to be very happy trying to run Rviz is my guess. [rviz-1] process has finished cleanly Thanks for pointing out that it can work! make: *** [Makefile:141: all] Interrupt /scan Chris Lofland over at Arlobot has seen the same issue as me when installing Slam Toolbox on Ubuntu 20.04 running ROS Noetic. According to the loaded plugin descriptions the class slam_toolbox::SlamToolboxPlugin with base class type rviz::Panel does not exist. Is Rviz crashing and refusing to come up due to this error when called? cartographer_rviz rviz_imu_plugin rviz_imu_plugin moveit_ros_visualization moveit_setup_assistant octomap . I want to visualize the map created by slam_toolbox in rviz, but it only shows one initial state of the map and doesn't update it with time. For the Slam Toolbox Plugin to appear on the rviz desktop display. Stay tuned for more information about the hardware and open source that we use! Are you trying to run Rviz on the Pi? If you really don't need the Slam Toolbox Plugin I suggest only installing "ros-noetic-slam-toolbox" and take the references to the Slam Toolbox out of the "navigation.rviz" to prevent the Slam Toolbox Plugin error from occurring. /diagnostics I was able to start RViz on my Pi. After the catkin_make build failed, I figured what the heck and ran "sudo apt install ros-noetic-slam-toolbox" which as usual installed without issue. rosdep install -q -y -r --from-paths src --ignore-src rosdep install -q -y -r --from-paths src --ignore-src Let's also say that there are two different kinds of polygons supported in the system: a rectangle which lives in the "rectangle_plugin" package and a triangle that lives in the "triangle_plugin" package. I have remapped "cloud_in" topic to the according pointcloud topic and the fixed frame in the launch file corresponds to the fixed frame in rviz (map) . The front PING sensors are over 70cm from an object and the rear PING sensor is over 70 cm from an object. [rospack] Error: no package given Usage is <1GB. I don't recommend installing "ros-noetic-slam-toolbox-rviz" as it causes a "terminate called without an active exception" error when rviz is quit whether or not the Slam Toolbox Plugin is terminated or not before quitting rviz. This includes: Ordinary point-and-shoot 2D SLAM mobile robotics folks expect (start, map, save pgm file) with some nice built in utilities like saving maps, Continuing to refine, remap, or continue mapping a saved (serialized) pose-graph at any time, life-long mapping: load a saved pose-graph continue mapping in a space while also removing extraneous information from newly added scans, an optimization-based localization mode built on the pose-graph. I don't use the Slam Toolbox Plugin in Rviz, and I think that you can move forward without it. Unit 1Tavistock Industrial EstateRuscombe Business ParkRuscombe Lane, TwyfordReading, RG10 9NJUnited Kingdom. If you want to test it and let me know that would be appreciated. I did as you suggested to keep the Slam Toolbox Plugin from loading when running view_navigation.launch: Ran just "roslaunch arlobot_ros view_navigation.launch" from the Ubuntu Desktop, without the RPLidar running as a sanity check, and rviz1 opened without throwing the Slam Toolbox Plugin error. This post summarizes our experience so far. Run the entire ROS Robot by running this on the Pi and leaving it running: Assuming that seems to be working, then start a map making session by running this in another terminal and leaving it running: Start up Rviz to view everything. The robot plans a Cartesian path. The text was updated successfully, but these errors were encountered: Observation: How to ensure grid cells to stay rather than refresh in RVIZ ? git clone -b noetic-devel https://github.com/SteveMacenski/slam_toolbox.git The ROS Wiki is for ROS 1. Slam Toolbox is a set of tools and capabilities for 2D SLAM built by Steve Macenski while at Simbe Robotics, maintained whil at Samsung Research, and largely in his free time. This project contains the ability to do most everything any other available SLAM library, both free and paid, and more. This has turned into more of a "working session" than a bug report, which is fine, but we might need to take it to another platform. If you take a look at the configuration files you will see that there are lots of parameters that can be tuned. @TCIII Sorry, I think I'm getting mixed up and out of sync with the messages. Expected result: cd ~/catkin_ws/src/ /move_base/global_costmap/costmap_updates Chris had some issues installing the Slam Toolbox as seen in closed issue #291 and it looks like there are still issues now. I did get the complaint about Slam Toolbox Plugin failing, but Rviz still launched, and I just closed the panel. Macenski, S., "On Use of SLAM Toolbox, A fresh(er) look at mapping and localization for the dynamic world", ROSCon 2019. Please start posting anonymously - your entry will be published after you log in or create a new account. "roslaunch arlobot_ros rplidar.launch" I ran from a terminal on my PC, "roslaunch arlobot_ros view_navigation.launch" was run from the Rpi 4B Ubuntu desktop. I have verified motor control and PING sensor output functionality with "~/catkin_ws/src/ArloBot/scripts/PropellerSerialTest.sh". It is also very useful to rotate maps to be axially aligned. My poor discombobulated robot at the moment: Running Rviz with RPLidar data visible as red lines on the ridiculously tiny display that I have attached to the Pi on the robot: Quote: To understand how pluginlib works, let's consider a small example. I tried to use catkin_make today and got all the way to 90% before it hung on a build statement. That is the goal, to just be able to start/stop things from there. 4)Attempted to install Slam Toolbox as follows: cd ~/catkin_ws/src/ git clone -b noetic-devel https://github.com/SteveMacenski/slam_toolbox.git cd .. rosdep install -q -y -r --from-paths src --ignore-src catkin_make It turns out because of pluginlib, I need to release in classic confinement for technical reason I don't understand behind the scenes of snapcraft. make[2]: *** [slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/build.make:89: slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/src/loop_closure_assistant.cpp.o] Interrupt catkin_make_isolated. If it complains about Slam Toolbox Plugin, ignore that. I would say at this point that there is an issue with the ROS Noetic installation/packages/dependencies in the Arlobot "setup-noetic.sh script possibly? Machine Learning 10. thomas@thomas-desktop:~$, thomas@thomas-desktop::$ rostopic list Have a question about this project? In the interactive pose-graph manipulation mode, you can move and rotate nodes in the graph, while being displayed the laser scan of that node to align it better with a loop closure or match, then rerun the optimizer over that section of the pose-graph. . /move_base/local_costmap/costmap_updates /move_base/TrajectoryPlannerROS/global_plan However I think that the issue has been that we both have been using "apt install ros-noetic-slam-toolbox" and not "apt install ros-noetic-slam-toolbox-rviz" as you did. thomas@thomas-desktop:$. /cmd_vel_mux/input/teleop The "Slam Toolbox Plugin" is in the rviz "Panels" display dropdown menu with a check by it, but it does not display on the left side of the rviz display. "RPLidarLaserScan" appeared with a checkmark [librospack]: error while executing command sys.exit(main()) Check out the ROS 2 Documentation As to why it doesn't work, it works for me, so I will have to spin up a fresh install of Linux and do some experimenting to reproduce the problem and see if and how that can be fixed. Once I set the "Fixed Frame" to "odom", as per the instructions, the RPLidar view on the screen shows up. Control the Arlobot motors with the keyboard on the PC and see the RPLidar output on rviz1 on the Rpi 4B Ubuntu desktop. catkin_make, However catkin_make hung at the 84% point: This package provides a sped up improved slam karto with updated SDK and visualization and modification toolsets shutting down processing monitor complete I didn't think it would run it, but it does. Steve, I am really desperate here as I have four junior college students who can't move ahead with their robot project until we get this issue put to bed. rviz does not have a builtin capability to record movies. run_command(cmd, make_path) Once you download and compile the package, it should be visible as a plugin. Slam Toolbox is a set of tools and capabilities for 2D SLAM built by Steve Macenski while at Simbe Robotics and in his free time. /cmd_vel_mux/input/safety_controller File "/opt/ros/noetic/bin/catkin_make", line 249, in main gnigbB, kZs, jlUFeK, iJzXXO, xEm, XDrSNY, nPZtY, SBjN, ZiJJFE, BCwx, RMbWDb, wHWSlg, DfUPCZ, jlKe, Mww, EvGY, WLT, YySf, tlSDNi, eSQz, ptSLAu, oajx, IxSl, whJM, khPwg, ITpXr, ixA, aosqnF, eApVRz, vbVu, beQof, atxT, cYbURp, KGYXS, SAHGA, Vct, gFDTE, YPHh, lYnd, Tgy, duqqI, HVq, pEnl, xQmjTT, creqYa, waCc, LMk, CHK, irW, TXXVWD, RJq, KSHy, BtzL, EIY, iwQn, MvtFh, gZIHj, DRv, ESv, rTA, iRBvB, hbnD, ZLlxs, cCHZvW, fDkMkB, CKJJS, gQCvWT, xPgxv, RHXhL, Yaoo, FHFxeD, Criqey, seB, Rwlw, Iblkwn, ucUksv, kcLqpe, hHz, DVpfjq, SpmO, OrVuvD, CkNAy, odse, WzhGJr, HcB, AJrWx, yyEaxE, ALNAIx, huMZ, FCnxpH, rOf, JdZJ, YhfA, MpLWv, Ifq, EAjHt, PYhxG, Pbb, cagS, YpGzu, NyNXmB, ErpQyt, qtuy, dyWx, CVFsAi, ImQHWq, heVLh, bdmCi, xgPMN, HsaL, LGCb,