Map stays for

[zain]

Hello

I have a problem with the map created from SLAM Toolbox. It stays frozen even though the ROSBot 2R moves. It seems that SLAM Toolbox map not updating in ROS 2 and there are no clear errors, TF and topics seem fine. I noticed that map frame in rviz2 stays also frozen.
I got the following tree:

I would appreciate every help.

Thank you

Best regards

[RafalGorecki]

Hello @zain,

To be able to advise you, I would need a gif recording and information from the error/warning logs.
Also describe:

• what version of ROS you are using
• list what materials you are using

[zain]

Hi @RafalGorecki
there is nor warning logs. Just the map does not getting updated even though everything is correct.
I use ROS2

The componentes are:

1. ROSBot 2R
2. Slamtec LIdar A2M8
3. Humble

In the files you can finde the slam parameters and launchs

All topics are running:

rosa@rosbot2r:~$ ros2 topic list
/battery
/button/left
/button/right
/cmd_ser
/cmd_vel
/diagnostics
/dynamic_joint_states
/imu_broadcaster/imu
/joint_states
/joy
/joy/set_feedback
/laser_filter/transition_event
/led/left
/led/right
/map
/map_metadata
/odometry/filtered
/odometry/wheels
/parameter_events
/pose
/range/fl
/range/fr
/range/rl
/range/rr
/robot_description
/rosout
/scan
/scan_filtered
/set_pose
/slam_toolbox/feedback
/slam_toolbox/graph_visualization
/slam_toolbox/scan_visualization
/slam_toolbox/update
/tf
/tf_static
rosa@rosbot2r:~$

Thanks

Zain

[RafalGorecki]

Hello @zain,

Could you please send:

• a GIF of the map visualization
• logs
• Rosbot driver versions

General information:

• The map is only updated while driving
• Make sure the scan_filtered data is published. If you’re using an older version of the driver, scan_filtered is not available.

[zain]

Hi @RafalGorecki
in the 2 photos below you can see at the first image the start location, where the robot started. Then i drove the robot a bit but as you can notice the map does not update, since the TF updates but map not. Before the map could not update at all. But after i changed the mod of the Lidar to “Standard” i got this. But still messy. I should mention here that the LIdar works very fine and deliver the data very good.

Thanks
Zain

[zain]

Hello @RafalGorecki
i built the rosbot driver from the git repo GitHub - husarion/rosbot_ros at humble and then i added to it in /src file the rplidar git repo GitHub - Slamtec/rplidar_ros at ros2 . SLAM Toolbox ist installed and configured like above mentioned. The lidar delivers permanent scan data.
I think there es a problem with TF. But i dont know how to solve this!
I really appreciate every help and support

Thanks
Zain

[RafalGorecki]

Since I haven’t used ROS 2 Tutorials in over a year, that’s where this example came from. I haven’t been able to reproduce this error. Looking at the TF tree, everything looks fine. There’s both a map → base_link and a base_link → laser connection (which is in the /scan / /scan_filtered message).
Looking at the screenshots, it looks like slam was updating for a while. I’m wondering if:

1. They’re all being run on the robot.
2. Is scan still publishing topics (ros2 topic echo /scan_filtered)
3. Are there devices on the LAN with a different ROS distribution?

[zain]

Hello @RafalGorecki

of course everything was running on the real robot. And yes, scan is still publishing topics correctly!!

rosbot 2r is the only device with ros2 on the LAN
I wonder if the slam parameters are correct. So, how to get the correct slamt paramter for the rosbot 2r?

[RafalGorecki]

To make sure the parameters are loaded correctly, you can do this by executing ros2 param get /slam scan_topic. However, if there was something wrong with the configuration, I don’t expect it would only work for a moment and then stop

I can’t recreate it, at most I can take a look at the rosbag if you send it to me.