fazildgr8 / ros_autonomous_slam Goto Github PK

please !!!!!!!!!!!!!!!!!! it's very important for me ~~

prabanjan@ubuntu:$ echo $TURTLEBOT3_MODEL
waffle_pi
prabanjan@ubuntu:$ source /.bashrc
prabanjan@ubuntu:$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
... logging to /home/prabanjan/.ros/log/4a5e619c-858b-11ec-856a-000c29ccc10b/roslaunch-ubuntu-7199.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

WARNING: Package name "Mine_description" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
WARNING: Package name "Mine_description" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
Resource not found: turtlebot3_description
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/prabanjan/gitbee/src
ROS path [2]=/home/prabanjan/rigbee/src
ROS path [3]=/home/prabanjan/ros/src
ROS path [4]=/home/prabanjan/ADAS/src
ROS path [5]=/home/prabanjan/catkin_ws/src
ROS path [6]=/opt/ros/melodic/share
The traceback for the exception was written to the log file

I am getting this error. How can I resolve?

I'm using ROS noetic in a ubuntu docker and I installed the following to successfully run the program.

sudo apt install -y ros-noetic-gmapping ros-noetic-turtlebot3 ros-noetic-turtlebot3-gazebo ros-noetic-dwa-local-planner python3-pip
sudo ln -s /usr/bin/python3 /usr/bin/python
pip install sklearn

I've started with a fresh ubuntu 18, ros melodic version and use ec2 server
with 4 core and 16 memory. when experimenting using this code. it works well. but when the robot is located at a dead-end, it searches in ordinary path and stops that location. If you experienced this situation during the experiment, can you tell me the cause and solution?

And Currently, only global_rrt_detector, local_rrt_detector, assigner, filter files are required to be launched in the launch file, but please let me know why the rrt,rt_single, automatic_rrt files in the node directory are not used and what are available.

Thank you and please reply me.

I've started with a fresh ubuntu 18 - ros melodic and follow your steps.
When I launch: roslaunch ros_autonomous_slam autonomous_explorer.launch I get:

NODES
  /
    assigner (ros_autonomous_slam/assigner.py)
    filter (ros_autonomous_slam/filter.py)
    global_detector (ros_autonomous_slam/global_rrt_detector)
    local_detector (ros_autonomous_slam/local_rrt_detector)
    move_base (move_base/move_base)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    turtlebot3_slam_gmapping (gmapping/slam_gmapping)

ROS_MASTER_URI=http://localhost:11311

process[robot_state_publisher-1]: started with pid [31219]
ERROR: cannot launch node of type [gmapping/slam_gmapping]: gmapping
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/elgarbe/workspace/catkin_ws/src
ROS path [2]=/opt/ros/melodic/share
process[rviz-3]: started with pid [31220]
process[move_base-4]: started with pid [31221]
process[global_detector-5]: started with pid [31227]
process[local_detector-6]: started with pid [31229]
process[filter-7]: started with pid [31239]
process[assigner-8]: started with pid [31241]
[ WARN] [1616723575.614585618, 597.417000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 597.417 timeout was 0.1.
Traceback (most recent call last):
  File "/home/elgarbe/workspace/catkin_ws/src/ros_autonomous_slam/scripts/filter.py", line 13, in <module>
    from sklearn.cluster import MeanShift
ImportError: No module named sklearn.cluster
[filter-7] process has died [pid 31239, exit code 1, cmd /home/elgarbe/workspace/catkin_ws/src/ros_autonomous_slam/scripts/filter.py __name:=filter __log:=/home/elgarbe/.ros/log/9fcbdc6e-8dd3-11eb-b7a4-7c67a237b388/filter-7.log].
log file: /home/elgarbe/.ros/log/9fcbdc6e-8dd3-11eb-b7a4-7c67a237b388/filter-7*.log
[ WARN] [1616723588.099024189, 602.422000000]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.1 timeout was 0.1.

So I think I need gmapping and sklearn.
What would it be the best way to install them?

Thank!

This is my simulation:

https://youtu.be/CY2YYLg8AmI

its working in Noetic and python3. However, it stuck and no warning / error mentioning why its stuck and not follow the path planner provided by RRT.

I checked on the kobuki rrt video and seem its working fine. Why is that? I also notice there is no green line planner refreshing in turtlebot3 as well there is no red branch tree like what they have in kobuki.

https://youtu.be/abGyA3K1lzU?list=PLoGH52eUIHsc1B_xPLL6ogzYxrWy675kr

Where can we improve so turtlebot3 can keep moving and exploring? please kindly help. Thank you.

Hi Fazil,

I was wondering is it possible to recreate multiple turtlebot3 to run the RRT exploration as shown in the original RRT exploration package?

Also, I managed to get the program running but somehow the turtlebot3 have the tendency to stuck at wall and often requires manual control to unfreeze the robot?
Is there any fine tuning parameters provided? thanks.

Regards,
Billy

Hi, Sir. I have followed your instructions. So far so good until i run the following code:

roslaunch ros_autonomous_slam autonomous_explorer.launch

The rviz window already opened and the publish points is set. However, the RRT does not show up. In terminal terminal there is an error
"ERROR: cannot launch node of type [ros_autonomous_slam/global_rrt_detector]: Cannot locate node of type [global_rrt_detector] in package [ros_autonomous_slam]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [ros_autonomous_slam/local_rrt_detector]: Cannot locate node of type [local_rrt_detector] in package [ros_autonomous_slam]. Make sure file exists in package path and permission is set to executable (chmod +x)"

Please give me some insight, Sir

After setting everything up as suggested, turtlebot is not moving. It seems RRT node is working fine, but the robot is not receiving any commands on /cmd_vel topic.

Please take a look at below video:

Please suggest some changes to make it work.

why I get the error "ImportError: No module named rrt_exploration.msg"when I use roslaunch ros_autonomous_slam autonomous_explorer.launch?Can anyone help me,thanks!

When I run roslaunch ros_autonomous_slam turtlebot3_world.launch, the terminal issues [filter-7] process has died [pid 6452, exit code 1, cmd /home/amaya/catkin_ws/src/ros_autonomous_slam/scripts/filter.py __name:=filter __log:=/home/amaya/.ros/log/3d4bcb8c-6975-11ee-b407-65d4e7192b1e/filter-7.log]. log file: /home/amaya/.ros/log/3d4bcb8c-6975-11ee-b407-65d4e7192b1e/filter-7*.log [assigner-8] process has died [pid 6454, exit code 1, cmd /home/amaya/catkin_ws/src/ros_autonomous_slam/scripts/assignor.py __name:=assigner __log:=/home/amaya/.ros/log/3d4bcb8c-6975-11ee-b407-65d4e7192b1e/assigner-8.log]. log file: /home/amaya/.ros/log/3d4bcb8c-6975-11ee-b407-65d4e7192b1e/assigner-8*.log, I can't find where this question comes from.

Dear Sir,

(roslaunch ros_autonomus_slam turtlebot3_world.launch ) command can not be executed. The error mentions that it “ is neither a launch file in package“. Instead (roslaunch turtlebot3_gazebo turtlebot3_world.launch) can be executed.

Can you please help me out.

Hello There
I have downloaded the ROS2 and all the files of this project but when I run the command
ros2 launch ros_autonomous_slam turtlebot3_world.launch
This error occurs : Package 'ros_autonomous_slam' not found: "package 'ros_autonomous_slam' not found, searching: ['/opt/ros/foxy']"

Kindly Help I need this project for my FYP Presentation. Waiting for reply

Hi there,

I am trying to run the program on Noetic. Below is the error. Your help would be much appreciated : )

Traceback (most recent call last):
  File "/home/yuxiang/catkin_ws/src/ros_autonomous_slam/scripts/filter.py", line 5, in <module>
    import rospy
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 47, in <module>
    from std_msgs.msg import Header
  File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/__init__.py", line 1, in <module>
    from ._Bool import *
  File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/_Bool.py", line 6, in <module>
    import genpy
  File "/opt/ros/noetic/lib/python3/dist-packages/genpy/__init__.py", line 34, in <module>
    from . message import Message, SerializationError, DeserializationError, MessageException, struct_I
  File "/opt/ros/noetic/lib/python3/dist-packages/genpy/message.py", line 48, in <module>
    import yaml
ImportError: No module named yaml
Traceback (most recent call last):
  File "/home/yuxiang/catkin_ws/src/ros_autonomous_slam/scripts/assigner.py", line 5, in <module>
    import rospy
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 47, in <module>
    from std_msgs.msg import Header
  File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/__init__.py", line 1, in <module>
    from ._Bool import *
  File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/_Bool.py", line 6, in <module>
    import genpy
  File "/opt/ros/noetic/lib/python3/dist-packages/genpy/__init__.py", line 34, in <module>
    from . message import Message, SerializationError, DeserializationError, MessageException, struct_I
  File "/opt/ros/noetic/lib/python3/dist-packages/genpy/message.py", line 48, in <module>
    import yaml
ImportError: No module named yaml
[filter-7] process has died [pid 1950541, exit code 1, cmd /home/yuxiang/catkin_ws/src/ros_autonomous_slam/scripts/filter.py __name:=filter __log:=/home/yuxiang/.ros/log/23246bfe-bd9d-11ec-89fe-d993a19ee3f3/filter-7.log].
log file: /home/yuxiang/.ros/log/23246bfe-bd9d-11ec-89fe-d993a19ee3f3/filter-7*.log
[assigner-8] process has died [pid 1950552, exit code 1, cmd /home/yuxiang/catkin_ws/src/ros_autonomous_slam/scripts/assigner.py __name:=assigner __log:=/home/yuxiang/.ros/log/23246bfe-bd9d-11ec-89fe-d993a19ee3f3/assigner-8.log].
log file: /home/yuxiang/.ros/log/23246bfe-bd9d-11ec-89fe-d993a19ee3f3/assigner-8*.log
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame odom at time 24.857000 according to authority unknown_publisher
         at line 278 in /home/yuxiang/catkin_ws/src/geometry2/tf2/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame odom at time 24.857000 according to authority unknown_publisher
         at line 278 in /home/yuxiang/catkin_ws/src/geometry2/tf2/src/buffer_core.cpp
[ WARN] [1650124346.075714987, 24.879000000]: global_costmap: Parameter "plugins" not provided, loading pre-Hydro parameters