Comments (10)
It seems i indeed forgot to update the turtlebot3 package - now everything runs as expected.
Thank you for your efforts ;)
from turtlebot3_simulations.
Hi,
It looks like the Rviz has some issue with filtering the IMU sensor data.
Could you turn off the imu data option and see if it fixes the issue?
https://github.com/ROBOTIS-GIT/turtlebot3/blob/foxy-devel/turtlebot3_cartographer/config/turtlebot3_lds_2d.lua#L52
from turtlebot3_simulations.
Yes, turning off the imu data option clearly helps. But is the IMU sensor data different between the burger and the waffle_pi model?
from turtlebot3_simulations.
No, both Burger and Waffle Pi use the identical IMU as they are using the IMU on OpenCR1.0 board.
from turtlebot3_simulations.
But where is the difference then? Burger model is running fine with IMU data option turned on while waffle_pi is not?
from turtlebot3_simulations.
There was a missing imu joint in the sdf file and this PR(#133) will fix the issue in the gazebo.
from turtlebot3_simulations.
After seeing that you merged the PR into branch ros2-devel, i switched to this branch, pulled (i did see the change in the 4 sdf files), turned IMU data back on in the cartographer config and ran my usual setup:
- ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
- ros2 run turtlebot3_gazebo turtlebot3_drive
- ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True
in parallel terminals. While the bot moved very well and avoided objects as intended before the change, it now starts after a short time (usually under one minute) to move backwards, collide with the walls and flip over and over.
If i switch to the burger model in all 3 terminals and run the same commands it still behaves as expected.
from turtlebot3_simulations.
@GrueneNeun
Thanks for the update.
I'm currently checking on the Waffle Pi. I'll update the package when the issue is resolved.
from turtlebot3_simulations.
After this commit the waffle_pi behaves nearly as in the beginning - it avoids objects as expected, but the cartographer does the same flipping as before. Turning off the IMU option in cartographer still helps.
from turtlebot3_simulations.
@GrueneNeun
Thank you for the feedback.
I'll run the simulation again and see if I can reproduce the problem.
Happy New Year!
=========Appended===========
I just ran a good 15 minutes cartographer SLAM with the latest foxy-devel
commits of turtlebot3
and turtlebot3_simulations
packages, but wasn't able to reproduce the issue.
Could you check if your packages are up to date, especially the turtlebot3 package?
from turtlebot3_simulations.
Related Issues (20)
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- --- stderr: turtlebot3_gazebo CMake Error at CMakeLists.txt:24 (find_package): By not providing "Findgazebo_ros_pkgs.cmake" in CMAKE_MODULE_PATH HOT 1
- Multi TurtleBot3 Simulation in Gazebo HOT 1
- Gazebo simulation of Turtlebot3 - problem with showing /scan in rviz HOT 1
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- Rviz: Global Status Error: Fixed frame [map] does not exist; Robot Model Error HOT 1
- Unable to find uri HOT 2
- Integration for Gazebo Sim 7 (Garden) HOT 3
- Issue launch empty world OR any other world HOT 5
- ros2 launch turtlebot3_gazebo empty_world.launch.py error HOT 1
- ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py HOT 1
- gz-client crashes on ROS2 Rolling due to assertion fail HOT 1
- turtlebot3_world.launch local_costmap warnings
- Gazebo simulation not launching in humble HOT 2
- [ERROR] [gzserver-1]: process has died [pid 10000, exit code 255] HOT 1
- CMake Error in turtlebot3_gazeboConfig.cmake - Unable to find /usr/include/sdformat-9.8
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