Errors with multiranger mapping #163

Kaijun101 · 2022-12-30T07:07:47Z

Kaijun101
Dec 30, 2022

Hi, I was trying out the ros2 crazyswarm tutorial for mapping. But when I run ros2 launch crazyflie_examples multiranger_mapping_launch.py, I have the following error messages regarding the sensor:

[INFO] [launch]: All log files can be found below /home/swarm/.ros/log/2022-12-30-15-02-51-572970-tlswarm-Latitude-5580-5831
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [crazyflie_server.py-1]: process started with pid [5832]
[INFO] [vel_mux.py-2]: process started with pid [5834]
[INFO] [async_slam_toolbox_node-3]: process started with pid [5836]
[async_slam_toolbox_node-3] [INFO] [1672383772.059522933] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[crazyflie_server.py-1] Error no LogEntry to handle id=0
[crazyflie_server.py-1] Error no LogEntry to handle id=0
[vel_mux.py-2] [INFO] [1672383775.047237005] [vel_mux]: Velocity Multiplexer set for /cf1 with height 0.3 m using the /cmd_vel topic
[crazyflie_server.py-1] [INFO] [1672383776.783788540] [crazyflie_server]: radio://0/100/2M/E7E7E7E715 is fully connected!
[crazyflie_server.py-1] [INFO] [1672383776.788220372] [crazyflie_server]: All Crazyflies are fully connected!
[crazyflie_server.py-1] [INFO] [1672383776.878759111] [crazyflie_server]: radio://0/100/2M/E7E7E7E715: locSrv.extPosStdDev is set to 0.001
[crazyflie_server.py-1] [INFO] [1672383776.885632466] [crazyflie_server]: radio://0/100/2M/E7E7E7E715: locSrv.extQuatStdDev is set to 0.05
[crazyflie_server.py-1] [INFO] [1672383776.945822997] [crazyflie_server]: radio://0/100/2M/E7E7E7E715: stabilizer.controller is set to 1
[crazyflie_server.py-1] [INFO] [1672383776.947798402] [crazyflie_server]: radio://0/100/2M/E7E7E7E715: stabilizer.estimator is set to 2
[crazyflie_server.py-1] [INFO] [1672383776.970027190] [crazyflie_server]: All Crazyflies parameters are initialized
[crazyflie_server.py-1] [INFO] [1672383776.979448243] [crazyflie_server]: radio://0/100/2M/E7E7E7E715 setup logging for scan at freq 10
[crazyflie_server.py-1] [INFO] [1672383776.985255072] [crazyflie_server]: radio://0/100/2M/E7E7E7E715 setup logging for odom at freq 10
[crazyflie_server.py-1] [INFO] [1672383776.993076119] [crazyflie_server]: All Crazyflies loggging are initialized
[async_slam_toolbox_node-3] [INFO] [1672383777.201807251] [slam_toolbox]: Message Filter dropping message: frame 'cf1' at time 1672383777.100 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-3] Info: clipped range threshold to be within minimum and maximum range!
[async_slam_toolbox_node-3] [WARN] [1672383777.206315021] [slam_toolbox]: maximum laser range setting (3.5 m) exceeds the capabilities of the used Lidar (3.5 m)
[async_slam_toolbox_node-3] Registering sensor: [Custom Described Lidar]
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] [INFO] [1672383777.700490148] [slam_toolbox]: Message Filter dropping message: frame 'cf1' at time 1672383777.600 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5
[async_slam_toolbox_node-3] LaserRangeScan contains 4 range readings, expected 5

Answered by knmcguire

Dec 30, 2022

Hi! This was indeed an error we had few weeks ago ago: #143, but it should have been resolved by now with this PR: #143,

Have you updated the repository to the latest version already?

View full answer

knmcguire · 2022-12-30T13:06:59Z

knmcguire
Dec 30, 2022
Maintainer

Hi! This was indeed an error we had few weeks ago ago: #143, but it should have been resolved by now with this PR: #143,

Have you updated the repository to the latest version already?

7 replies

Kaijun101 Jan 3, 2023
Author

Yes, I have changed the topic name, Below are my crazyflie config and the multiranger launch file.
Crazyflie config file

# named list of all robots
robots:
  cf1:
    enabled: true
    uri: radio://0/80/2M/E7E7E7E708
    initial_position: [0, 0, 0]
    type: cf21  # see robot_types
    # firmware_params:
    #   kalman:
    #     pNAcc_xy: 1.0 # default 0.5
    # firmware_logging:
    #   enabled: true
    #   custom_topics:
    #     topic_name3: 
    #       frequency: 1
    #       vars: ["acc.x", "acc.y"]
  cf2:
    enabled: false
    uri: radio://0/80/2M/E7E7E7E7E8
    initial_position: [0, -0.5, 0]
    type: cf21  # see robot_types
    # firmware_params:
    #   kalman:
    #     pNAcc_xy: 1.0 # default 0.5
    #firmware_logging:
    #  custom_topics:
    #    topic_name3: 
    #      frequency: 1
    #      vars: ["acc.x", "acc.y", "acc.z"]

# Definition of the various robot types
robot_types:
# Definition of the various robot types
robot_types:
  cf21:
    motion_capture:
      enabled: false
      # only if enabled; see motion_capture.yaml
      marker: default_single_marker
      dynamics: default
    big_quad: false
    battery:
      voltage_warning: 3.8  # V
      voltage_critical: 3.7 # V
    # firmware_params:
    #   kalman:
    #     pNAcc_xy: 1.0 # default 0.5
    firmware_logging:
      enabled: true
      default_topics:
        #pose:
        #  frequency: 10 # Hz
        odom:
          frequency: 10
        scan:
          frequency: 10
    #   custom_topics:
    #    topic_name3: 
    #      frequency: 1
    #      vars: ["acc.x", "acc.y", "acc.z"]

  cf21_mocap_deck:
    motion_capture:
      enabled: true
      # only if enabled; see motion_capture.yaml
      marker: mocap_deck
      dynamics: default
    big_quad: false
    battery:
      voltage_warning: 3.8  # V
      voltage_critical: 3.7 # V

    # firmware_params:
    #   kalman:
    #     pNAcc_xy: 1.0 # default 0.5

# global settings for all robots
all:
  # firmware logging for all drones (use robot_types/type_name to set per type, or
  # robots/drone_name to set per drone)
  #firmware_logging:
  #  enabled: true
  #  default_topics:
     # remove to disable default topic
      #pose:
      #  frequency: 10 # Hz
  #    odom:
  #      frequency: 10 # Hz
  #    scan:
  #      frequency: 10 # Hz
    #custom_topics:
    #  topic_name1:
    #    frequency: 10 # Hz
    #    vars: ["stateEstimateZ.x", "stateEstimateZ.y", "stateEstimateZ.z", "pm.vbat"]
    #  topic_name2:
    #    frequency: 1 # Hz
    #    vars: ["stabilizer.roll", "stabilizer.pitch", "stabilizer.yaw"]
  # firmware parameters for all drones (use robot_types/type_name to set per type, or
  # robots/drone_name to set per drone)
  firmware_params:
    #commander:
    #  enHighLevel: 1
    stabilizer:
      estimator: 2 # 1: complementary, 2: kalman
      controller: 1 # 1: PID, 2: mellinger
    # ring:
    #   effect: 16 # 6: double spinner, 7: solid color, 16: packetRate
    #   solidBlue: 255 # if set to solid color
    #   solidGreen: 0 # if set to solid color
    #   solidRed: 0 # if set to solid color
    #   headlightEnable: 0
    locSrv:
      extPosStdDev: 1e-3
      extQuatStdDev: 0.5e-1
    # kalman:
    #   resetEstimation: 1
  broadcasts:
    num_repeats: 15 # number of times broadcast commands are repeated
    delay_between_repeats_ms: 1 # delay in milliseconds between individual repeats

Multiranger launch file

import os
import yaml
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch_ros.actions import Node
from launch.conditions import LaunchConfigurationEquals
from launch.launch_description_sources import PythonLaunchDescriptionSource

def generate_launch_description():
    # load crazyflies
    crazyflies_yaml = os.path.join(
        get_package_share_directory('crazyflie'),
        'config',
        'crazyflies.yaml')

    with open(crazyflies_yaml, 'r') as ymlfile:
        crazyflies = yaml.safe_load(ymlfile)

    server_params = crazyflies

    return LaunchDescription([
        Node(
            package='crazyflie',
            executable='crazyflie_server.py',
            name='crazyflie_server',
            output='screen',
            parameters=[server_params],
        ),
        Node(
            package='crazyflie',
            executable='vel_mux.py',
            name='vel_mux',
            output='screen',
            parameters=[{"hover_height": 0.3},
                        {"incoming_twist_topic": "/cmd_vel"},
                        {"robot_prefix": "/cf1"}]
        ),
        Node(
        parameters=[
          {'odom_frame': 'odom'},
          {'map_frame': 'world'},
          {'base_frame': 'cf1'},
          {'scan_topic': '/cf1/scan'},
          {'use_scan_matching': False},
          {'max_laser_range': 3.5},
          {'resolution': 0.1},
          {'minimum_travel_distance': 0.01},
          {'minimum_travel_heading': 0.001},
          {'map_update_interval': 0.1}
        ],
        package='slam_toolbox',
        executable='async_slam_toolbox_node',
        name='slam_toolbox',
        output='screen'),
    ])

knmcguire Jan 3, 2023
Maintainer

I'm not really able to recreate your problem I'm afraid. If I use exactly your crazyflies.yaml file and launch.file input, I get the following:

Could you also copy past the output of terminal where the server is being run again?

Kaijun101 Jan 4, 2023
Author

Heres the output when I run ros2 launch crazyflie_examples multiranger_mapping_launch.py :

[INFO] [launch]: All log files can be found below /home/swarm/.ros/log/2023-01-04-13-42-22-062394-swarm-5159
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [crazyflie_server.py-1]: process started with pid [5160]
[INFO] [vel_mux.py-2]: process started with pid [5162]
[INFO] [async_slam_toolbox_node-3]: process started with pid [5164]
[async_slam_toolbox_node-3] [INFO] [1672810942.297270162] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[vel_mux.py-2] [INFO] [1672810948.013253997] [vel_mux]: Velocity Multiplexer set for /cf1 with height 0.3 m using the /cmd_vel topic
[crazyflie_server.py-1] [INFO] [1672810949.060102712] [crazyflie_server]:  radio://0/80/2M/E7E7E7E708 is fully connected!
[crazyflie_server.py-1] [INFO] [1672810949.061099262] [crazyflie_server]: All Crazyflies are fully connected!
[crazyflie_server.py-1] [INFO] [1672810949.100794260] [crazyflie_server]:  radio://0/80/2M/E7E7E7E708: locSrv.extPosStdDev is set to 0.001
[crazyflie_server.py-1] [INFO] [1672810949.101952271] [crazyflie_server]:  radio://0/80/2M/E7E7E7E708: locSrv.extQuatStdDev is set to 0.05
[crazyflie_server.py-1] [INFO] [1672810949.129536022] [crazyflie_server]:  radio://0/80/2M/E7E7E7E708: stabilizer.controller is set to 1
[crazyflie_server.py-1] [INFO] [1672810949.130726118] [crazyflie_server]:  radio://0/80/2M/E7E7E7E708: stabilizer.estimator is set to 2
[crazyflie_server.py-1] [INFO] [1672810949.138641889] [crazyflie_server]: All Crazyflies parameters are initialized
[crazyflie_server.py-1] [INFO] [1672810949.140531061] [crazyflie_server]: radio://0/80/2M/E7E7E7E708 setup logging for scan at freq 10
[crazyflie_server.py-1] [INFO] [1672810949.142447025] [crazyflie_server]: radio://0/80/2M/E7E7E7E708 setup logging for odom at freq 10
[crazyflie_server.py-1] [INFO] [1672810949.145313761] [crazyflie_server]: All Crazyflies loggging are initialized
[async_slam_toolbox_node-3] [INFO] [1672810949.350105055] [slam_toolbox]: Message Filter dropping message: frame 'cf1' at time 1672810949.249 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-3] Info: clipped range threshold to be within minimum and maximum range!
[async_slam_toolbox_node-3] [WARN] [1672810949.375181802] [slam_toolbox]: maximum laser range setting (3.5 m) exceeds the capabilities of the used Lidar (3.5 m)
[async_slam_toolbox_node-3] Registering sensor: [Custom Described Lidar]
[async_slam_toolbox_node-3] [INFO] [1672810949.850882074] [slam_toolbox]: Message Filter dropping message: frame 'cf1' at time 1672810949.748 for reason 'discarding message because the queue is full'

Kaijun101 Jan 5, 2023
Author

I figured that the map does not show when the room is too big, like bigger than 3.5

knmcguire Jan 6, 2023
Maintainer

ah no it doesn't indeed. that's a limitation of the slamtoolbox mapping function I'm afraid. What we could do for the future feature of this ticket: #92 is to generate a map already with a beam even if it is out of reach. That is way more informative

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Errors with multiranger mapping #163

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Errors with multiranger mapping #163

Kaijun101 Dec 30, 2022

Replies: 1 comment · 7 replies

knmcguire Dec 30, 2022 Maintainer

Kaijun101 Jan 3, 2023 Author

knmcguire Jan 3, 2023 Maintainer

Kaijun101 Jan 4, 2023 Author

Kaijun101 Jan 5, 2023 Author

knmcguire Jan 6, 2023 Maintainer

Kaijun101
Dec 30, 2022

Replies: 1 comment 7 replies

knmcguire
Dec 30, 2022
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Kaijun101 Jan 3, 2023
Author

knmcguire Jan 3, 2023
Maintainer

Kaijun101 Jan 4, 2023
Author

Kaijun101 Jan 5, 2023
Author

knmcguire Jan 6, 2023
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