Newbie can't get going. Error on roslaunch see below

Help
1

I received my pro a few days and I cannot get past the following line inthe quick start:

husarion@husarion:~$roslaunch route_admin_panel demo_rosbot_pro_mbed_fw.launch

The lidar spins.

The following error occurs: (any ideas??)

     at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp

[ERROR] [1608587162.668796568]: Critical Error, NaNs were detected in the output state of the filter. This was likely due to poorly coniditioned process, noise, or sensor covariances.
Error: Error: TF_NAN_INPUT: Ignoring transform for child_frame_id “base_link” from authority “unknown_publisher” because of a nan value in the transform (nan nan nan) (nan nan nan nan)TF_NAN_INPUT: Ignoring transform for child_frame_id “base_link” from authority “unknown_publisher” because of a nan value in the transform (nan nan nan) (nan nan nan nan)

     at line          at line 244244 in  in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp/tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp

Error: Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id “base_link” from authority “unknown_publisher” because of an invalid quaternion in the transform (nan nan nan nan)TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id “base_link” from authority “unknown_publisher” because of an invalid quaternion in the transform (nan nan nan nan)

     at line          at line 257257 in  in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp/tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp

Error: TF_NAN_INPUT: Ignoring transform for child_frame_id “base_link” from authority “unknown_publisher” because of a nan value in the transform (nan nan nan) (nan nan nan nan)
at line 244 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id “base_link” from authority “unknown_publisher” because of an invalid quaternion in the transform (nan nan nan nan)
at line 257 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
[move_base-10] killing on exit
[imu_publisher-9] killing on exit
[rosbot_ekf-8] killing on exit
[msgs_conversion-7] killing on exit
[serial_node-6] killing on exit
[rplidarNode-5] killing on exit
[map_to_img-4] killing on exit
[node_server-3] killing on exit
[ROSbot_laser-2] killing on exit
[INFO] [1608587162.702180]: Send tx stop request
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor…
… shutting down processing monitor complete
done
husarion@husarion:~$

2

Hello jpmarno,

Could you post here full log output? This means everything that gets after you type roslaunch route_admin_panel demo_rosbot_pro_mbed_fw.launch until the … shutting down processing monitor complete line.

Regards,
Łukasz

3

husarion@husarion:~$ roslaunch route_admin_panel demo_rosbot_pro_mbed_fw.launch
… logging to /home/husarion/.ros/log/95021066-4515-11eb-a61c-70f11c32f245/roslaunch-husarion-4624.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.

started roslaunch server http://husarion:36331/

SUMMARY

CLEAR PARAMETERS

  • /rosbot_ekf/

PARAMETERS

  • /map_to_img/child_frame: /base_link
  • /map_to_img/draw_robot: False
  • /map_to_img/parent_frame: /map
  • /map_to_img/publish_full_map: True
  • /map_to_img/publish_map_tile: False
  • /map_to_img/tile_height: 480
  • /map_to_img/tile_width: 640
  • /move_base/TrajectoryPlannerROS/acc_lim_Y: 1.5
  • /move_base/TrajectoryPlannerROS/acc_lim_theta: 1.0
  • /move_base/TrajectoryPlannerROS/acc_lim_x: 1.5
  • /move_base/TrajectoryPlannerROS/gdist_scale: 0.2
  • /move_base/TrajectoryPlannerROS/holonomic_robot: False
  • /move_base/TrajectoryPlannerROS/max_vel_theta: 2.5
  • /move_base/TrajectoryPlannerROS/max_vel_x: 0.1
  • /move_base/TrajectoryPlannerROS/meter_scoring: True
  • /move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.5
  • /move_base/TrajectoryPlannerROS/min_vel_theta: -2.5
  • /move_base/TrajectoryPlannerROS/min_vel_x: 0.05
  • /move_base/TrajectoryPlannerROS/occdist_scale: 0.01
  • /move_base/TrajectoryPlannerROS/pdist_scale: 0.4
  • /move_base/TrajectoryPlannerROS/xy_goal_tolerance: 0.1
  • /move_base/TrajectoryPlannerROS/yaw_goal_tolerance: 0.1
  • /move_base/controller_frequency: 5.0
  • /move_base/global_costmap/always_send_full_costmap: True
  • /move_base/global_costmap/footprint: [[0.12, 0.14], [0…
  • /move_base/global_costmap/global_frame: map
  • /move_base/global_costmap/height: 15
  • /move_base/global_costmap/inflation_radius: 2.5
  • /move_base/global_costmap/laser_scan_sensor/clearing: True
  • /move_base/global_costmap/laser_scan_sensor/data_type: LaserScan
  • /move_base/global_costmap/laser_scan_sensor/marking: True
  • /move_base/global_costmap/laser_scan_sensor/sensor_frame: laser
  • /move_base/global_costmap/laser_scan_sensor/topic: scan
  • /move_base/global_costmap/map_topic: /map
  • /move_base/global_costmap/observation_sources: laser_scan_sensor
  • /move_base/global_costmap/obstacle_range: 6.0
  • /move_base/global_costmap/origin_x: -7.5
  • /move_base/global_costmap/origin_y: -7.5
  • /move_base/global_costmap/publish_frequency: 1.5
  • /move_base/global_costmap/raytrace_range: 8.5
  • /move_base/global_costmap/resolution: 0.01
  • /move_base/global_costmap/robot_base_frame: base_link
  • /move_base/global_costmap/rolling_window: True
  • /move_base/global_costmap/static_map: False
  • /move_base/global_costmap/subscribe_to_updates: True
  • /move_base/global_costmap/transform_tolerance: 0.5
  • /move_base/global_costmap/update_frequency: 0.5
  • /move_base/global_costmap/width: 15
  • /move_base/local_costmap/always_send_full_costmap: True
  • /move_base/local_costmap/footprint: [[0.12, 0.14], [0…
  • /move_base/local_costmap/global_frame: map
  • /move_base/local_costmap/height: 3
  • /move_base/local_costmap/inflation_radius: 1.0
  • /move_base/local_costmap/laser_scan_sensor/clearing: True
  • /move_base/local_costmap/laser_scan_sensor/data_type: LaserScan
  • /move_base/local_costmap/laser_scan_sensor/marking: True
  • /move_base/local_costmap/laser_scan_sensor/sensor_frame: laser
  • /move_base/local_costmap/laser_scan_sensor/topic: scan
  • /move_base/local_costmap/map_topic: /map
  • /move_base/local_costmap/observation_sources: laser_scan_sensor
  • /move_base/local_costmap/obstacle_range: 6.0
  • /move_base/local_costmap/origin_x: -1.5
  • /move_base/local_costmap/origin_y: -1.5
  • /move_base/local_costmap/publish_frequency: 2.5
  • /move_base/local_costmap/raytrace_range: 8.5
  • /move_base/local_costmap/resolution: 0.01
  • /move_base/local_costmap/robot_base_frame: base_link
  • /move_base/local_costmap/rolling_window: True
  • /move_base/local_costmap/static_map: False
  • /move_base/local_costmap/subscribe_to_updates: True
  • /move_base/local_costmap/transform_tolerance: 0.25
  • /move_base/local_costmap/update_frequency: 2.5
  • /move_base/local_costmap/width: 3
  • /move_base/recovery_behavior_enabled: True
  • /rosbot_ekf/acceleration_gains: [0.8, 0.0, 0.0, 0…
  • /rosbot_ekf/acceleration_limits: [1.3, 0.0, 0.0, 0…
  • /rosbot_ekf/base_link_frame: base_link
  • /rosbot_ekf/control_config: [True, False, Fal…
  • /rosbot_ekf/control_timeout: 0.2
  • /rosbot_ekf/debug: False
  • /rosbot_ekf/debug_out_file: /path/to/debug/fi…
  • /rosbot_ekf/deceleration_gains: [1.0, 0.0, 0.0, 0…
  • /rosbot_ekf/deceleration_limits: [1.3, 0.0, 0.0, 0…
  • /rosbot_ekf/frequency: 20
  • /rosbot_ekf/imu0: imu
  • /rosbot_ekf/imu0_config: [False, False, Fa…
  • /rosbot_ekf/imu0_differential: True
  • /rosbot_ekf/imu0_linear_acceleration_rejection_threshold: 0.8
  • /rosbot_ekf/imu0_nodelay: False
  • /rosbot_ekf/imu0_pose_rejection_threshold: 0.8
  • /rosbot_ekf/imu0_queue_size: 4
  • /rosbot_ekf/imu0_relative: True
  • /rosbot_ekf/imu0_remove_gravitational_acceleration: True
  • /rosbot_ekf/imu0_twist_rejection_threshold: 0.8
  • /rosbot_ekf/initial_estimate_covariance: [‘1e-9’, 0, 0, 0,…
  • /rosbot_ekf/map_frame: map
  • /rosbot_ekf/odom0: odom/wheel
  • /rosbot_ekf/odom0_config: [True, True, True…
  • /rosbot_ekf/odom0_differential: False
  • /rosbot_ekf/odom0_nodelay: False
  • /rosbot_ekf/odom0_queue_size: 6
  • /rosbot_ekf/odom0_relative: True
  • /rosbot_ekf/odom_frame: odom
  • /rosbot_ekf/print_diagnostics: True
  • /rosbot_ekf/process_noise_covariance: [0.05, 0, 0, 0, 0…
  • /rosbot_ekf/publish_acceleration: False
  • /rosbot_ekf/publish_tf: True
  • /rosbot_ekf/sensor_timeout: 0.2
  • /rosbot_ekf/stamped_control: False
  • /rosbot_ekf/transform_time_offset: 0.0
  • /rosbot_ekf/transform_timeout: 0.0
  • /rosbot_ekf/two_d_mode: False
  • /rosbot_ekf/use_control: True
  • /rosbot_ekf/world_frame: odom
  • /rosdistro: melodic
  • /rosversion: 1.14.10
  • /rplidarNode/angle_compensate: True
  • /rplidarNode/frame_id: laser
  • /rplidarNode/inverted: False
  • /rplidarNode/scan_mode: Sensitivity
  • /rplidarNode/serial_baudrate: 256000
  • /rplidarNode/serial_port: /dev/ttyUSB0
  • /serial_node/baud: 460800
  • /serial_node/port: /dev/ttyS4

NODES
/
ROSbot_laser (tf/static_transform_publisher)
imu_publisher (tf/static_transform_publisher)
map_to_img (husarion_ros/map_to_img_node)
move_base (move_base/move_base)
msgs_conversion (rosbot_ekf/msgs_conversion)
node_server (route_admin_panel/node_server.sh)
rosbot_ekf (robot_localization/ekf_localization_node)
rplidarNode (rplidar_ros/rplidarNode)
serial_node (rosserial_python/serial_node.py)

auto-starting new master
process[master]: started with pid [4634]
ROS_MASTER_URI=http://master:11311

setting /run_id to 95021066-4515-11eb-a61c-70f11c32f245
process[rosout-1]: started with pid [4645]
started core service [/rosout]
process[ROSbot_laser-2]: started with pid [4653]
process[node_server-3]: started with pid [4659]
/home/husarion/.ros
process[map_to_img-4]: started with pid [4662]
process[rplidarNode-5]: started with pid [4663]
process[serial_node-6]: started with pid [4670]
process[msgs_conversion-7]: started with pid [4674]
[ INFO] [1608724460.276415587]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.12.0
process[rosbot_ekf-8]: started with pid [4678]
process[imu_publisher-9]: started with pid [4679]
process[move_base-10]: started with pid [4685]
[ INFO] [1608724460.618794916]: Init MapAsImageProvider object
[ WARN] [1608724460.788511225]: Both imu0_differential and imu0_relative were set to true. Using differential mode.
RPLIDAR S/N: ABCE92F0C9E299D8BEE499F42C1A391D
[ INFO] [1608724460.792607654]: Firmware Ver: 1.27
[ INFO] [1608724460.792714423]: Hardware Rev: 6
[ INFO] [1608724460.793795333]: RPLidar health status : 0
[ INFO] [1608724460.908747085]: New scale is 0.010000
[ INFO] [1608724460.909331700]: Map to Image node started.
[ WARN] [1608724460.939867864]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[INFO] [1608724461.321446]: ROS Serial Python Node
[INFO] [1608724461.341918]: Connecting to /dev/ttyS4 at 460800 baud
[ INFO] [1608724461.424609160]: current scan mode: Sensitivity, max_distance: 25.0 m, Point number: 15.9K , angle_compensate: 4
[ WARN] [1608724461.945744755]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
Map scale: [ 10 , 500 ]
listening on *:8000
Start SLAM process
Gmapping launched
Start map autosave process
Enable map auto save
[INFO] [1608724462.197] (ros): Connected to master at http://master:11311!
Subscribe to move_base updates
[ WARN] [1608724462.961106102]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[INFO] [1608724463.460742]: Requesting topics…
[INFO] [1608724463.484168]: Note: publish buffer size is 512 bytes
[INFO] [1608724463.495996]: Setup service server on config [rosbot_ekf/Configuration]
[INFO] [1608724463.736595]: Setup publisher on battery [sensor_msgs/BatteryState]
[INFO] [1608724463.747621]: Setup publisher on pose [geometry_msgs/PoseStamped]
[INFO] [1608724463.758227]: Setup publisher on velocity [geometry_msgs/Twist]
[INFO] [1608724463.769608]: Setup publisher on range/fr [sensor_msgs/Range]
[INFO] [1608724463.780951]: Setup publisher on range/fl [sensor_msgs/Range]
[INFO] [1608724463.792977]: Setup publisher on range/rr [sensor_msgs/Range]
[INFO] [1608724463.805212]: Setup publisher on range/rl [sensor_msgs/Range]
[INFO] [1608724463.816451]: Setup publisher on joint_states [sensor_msgs/JointState]
[INFO] [1608724463.829413]: Setup publisher on mpu9250 [rosbot_ekf/Imu]
[INFO] [1608724463.846517]: Setup publisher on buttons [std_msgs/UInt8]
[INFO] [1608724463.855086]: Note: subscribe buffer size is 512 bytes
[INFO] [1608724463.869169]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
[INFO] [1608724463.883514]: Setup subscriber on cmd_ser [std_msgs/UInt32]
[INFO] [1608724463.891373]:

| ___ | _ |/ || | | | / |
| |/ /| | | |\ --. | |__ ___ | |_ | |_ __ __ | / | | | | –. | ’ \ / _ \ | __| | |\ \ /\ / /
| |\ \ \ _/ //_/ /| |) || () || |_ | | \ V V /
_| _| _/ _/ |./ _/ _| || _/_/

Firmware version: 0.13.1

[ WARN] [1608724463.968566023]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
Layer: 0, received transform [odom] → [base_link] is parent, skip further search
[ WARN] [1608724464.976956476]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
[ WARN] [1608724465.864174613]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: canTransform: target_frame map does not exist… canTransform returned after 0.100975 timeout was 0.1.
[ WARN] [1608724465.984031183]: Could not get transform between ‘/map’ and ‘/base_link’, will retry every second
Layer: 0, received transform [map] → [odom] is parent, skip further search
[ WARN] [1608724466.964540374]: global_costmap: Parameter “plugins” not provided, loading pre-Hydro parameters
[ INFO] [1608724467.020158781]: global_costmap: Using plugin “obstacle_layer”
[ INFO] [1608724467.040218787]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1608724467.106979336]: global_costmap: Using plugin “inflation_layer”
[ INFO] [1608724467.296472632]: Call publishFullMap
[ WARN] [1608724467.310466490]: local_costmap: Parameter “plugins” not provided, loading pre-Hydro parameters
[ INFO] [1608724467.311762113]: Map published
[ INFO] [1608724467.355237649]: local_costmap: Using plugin “obstacle_layer”
[ INFO] [1608724467.367753859]: Subscribed to Topics: laser_scan_sensor
[ INFO] [1608724467.431504151]: local_costmap: Using plugin “inflation_layer”
[ INFO] [1608724467.561500761]: Created local_planner base_local_planner/TrajectoryPlannerROS
[ INFO] [1608724467.589075879]: Sim period is set to 0.20
[ WARN] [1608724467.597882712]: Parameter pdist_scale is deprecated. Please use the name path_distance_bias instead.
[ WARN] [1608724467.601686021]: Parameter gdist_scale is deprecated. Please use the name goal_distance_bias instead.
[ INFO] [1608724467.958617113]: Recovery behavior will clear layer ‘obstacles’
[ INFO] [1608724467.979998652]: Recovery behavior will clear layer ‘obstacles’
[ INFO] [1608724468.111503059]: odom received!
Saving map with name: auto_saved_map_1608724462076
Map saved
Starting from dir ./user_maps/
Saving map with name: auto_saved_map_1608724462076
Map saved
Starting from dir ./user_maps/
Saving map with name: auto_saved_map_1608724462076
Map saved
Starting from dir ./user_maps/
Saving map with name: auto_saved_map_1608724462076
Map saved
Starting from dir ./user_maps/
Saving map with name: auto_saved_map_1608724462076
Map saved
Starting from dir ./user_maps/
Saving map with name: auto_saved_map_1608724462076
Map saved
Starting from dir ./user_maps/
Saving map with name: auto_saved_map_1608724462076
Map saved
Starting from dir ./user_maps/
Saving map with name: auto_saved_map_1608724462076
Map saved
Starting from dir ./user_maps/
Saving map with name: auto_saved_map_1608724462076
Map saved
Starting from dir ./user_maps/
Saving map with name: auto_saved_map_1608724462076
Map saved
Starting from dir ./user_maps/
Saving map with name: auto_saved_map_1608724462076
Map saved
Starting from dir ./user_maps/
Saving map with name: auto_saved_map_1608724462076
Map saved
Starting from dir ./user_maps/

4

After this it just loops continuously

5

In the log, everything is correct. I can not see the reason for the error to occur.
When does the error occur then?

6

After I type in the command the lidar spins, the ssh session keeps looping, nothing happens on the console.

Perhaps that is what should happen and I just don’t know what to do next?

7

That is the expected output.

Leave the session open and go to your browser, then open new page:

ROSBOT_ADDRESS:8000

where ROSBOT_ADDRESS is IP address that you have used to open an ssh session.