Mapping with SLAMtoolbox #523
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GustavOliMoura
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Hi! I couldn't replicate your issue so I think you'll need to pull the latest of the main branch. I also converted this issue to a discussion. 1- You can find these firmware logging more down at 2- This issue you are seeing is that it is missing a parameter namely robot description. This was fixed some time ago with this commit 9ea5373. So if you update the repo this should have fixed it. |
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I'm trying to do a simple mapping with the Slamtoolbox and a crazyflie, but when i run the codes and then i open rviz2, i do what the tutorial on the website says, but when i ad the map and the slamtoolbox nothing shows up like in the video of the site, i only can see the transform of the crazyflie, and i have two doubts:
1- The website says to enable two options on firmware_logging that doesn't exists on the crazyflies.yaml (odom and scan). Do i have to add this options on the code?
2- I was looking to resolve this on the internet and i was struggling to understand how the publishers and subscribers are working with the slamtoolbox and crazyflie, because i read it on a website about the relation with publishers, subscribers, odom and scan, and it could be the problem.
Here's the terminal running the "ros2 launch crazyflie_examples multiranger_mapping_launch.py" :
[INFO] [launch]: All log files can be found below /home/gustavo/.ros/log/2024-06-06-19-14-59-722968-gustavo-Aspire-VX5-19810
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [crazyflie_server.py-1]: process started with pid [19811]
[INFO] [vel_mux.py-2]: process started with pid [19813]
[INFO] [async_slam_toolbox_node-3]: process started with pid [19815]
[async_slam_toolbox_node-3] [INFO] [1717712099.883410623] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[crazyflie_server.py-1] Traceback (most recent call last):
[crazyflie_server.py-1] File "/home/gustavo/ros2_ws/install/crazyflie/lib/crazyflie/crazyflie_server.py", line 1125, in
[crazyflie_server.py-1] main()
[crazyflie_server.py-1] File "/home/gustavo/ros2_ws/install/crazyflie/lib/crazyflie/crazyflie_server.py", line 1116, in main
[crazyflie_server.py-1] crazyflie_server = CrazyflieServer()
[crazyflie_server.py-1] File "/home/gustavo/ros2_ws/install/crazyflie/lib/crazyflie/crazyflie_server.py", line 233, in init
[crazyflie_server.py-1] msg.data = self._ros_parameters['robot_description'].replace("$NAME", name)
[crazyflie_server.py-1] KeyError: 'robot_description'
[crazyflie_server.py-1] [INFO] [1717712102.484045185] [crazyflie_server]: [cf231] is fully connected!
[crazyflie_server.py-1] [INFO] [1717712102.485868936] [crazyflie_server]: All Crazyflies are fully connected!
[crazyflie_server.py-1] [INFO] [1717712102.498419482] [crazyflie_server]: [cf231] commander.enHighLevel is set to 1
[crazyflie_server.py-1] [INFO] [1717712102.550296091] [crazyflie_server]: [cf231] locSrv.extPosStdDev is set to 0.001
[crazyflie_server.py-1] [INFO] [1717712102.552361001] [crazyflie_server]: [cf231] locSrv.extQuatStdDev is set to 0.05
[crazyflie_server.py-1] [INFO] [1717712102.592627351] [crazyflie_server]: [cf231] stabilizer.controller is set to 1
[crazyflie_server.py-1] [INFO] [1717712102.594831988] [crazyflie_server]: [cf231] stabilizer.estimator is set to 2
[crazyflie_server.py-1] [INFO] [1717712102.611029734] [crazyflie_server]: All Crazyflies parameters are initialized.
[crazyflie_server.py-1] [INFO] [1717712102.613796954] [crazyflie_server]: [cf231] setup logging for pose at freq 10
[crazyflie_server.py-1] [INFO] [1717712102.616111051] [crazyflie_server]: [cf231] setup logging for status at freq 1
[crazyflie_server.py-1] [INFO] [1717712102.619276045] [crazyflie_server]: All Crazyflies logging are initialized.
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