Hello, I am using the Rosbot 3 and following the slam tutorials on your page. When I try to run the SLAM launch file it stops at “Node using stack size 40000000”:
ros2 launch tests_pkg slam.launch.py
[INFO] [launch]: All log files can be found below /home/husarion/.ros/log/2024-11-27-11-32-47-352019-rosbot-98531
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [async_slam_toolbox_node-1]: process started with pid [98534]
[async_slam_toolbox_node-1] [INFO] [1732703567.601100936] [slam]: Node using stack size 40000000
It seems that the solver is not being started. Also it does not subscribe to the /scan topic, not publish the /map topic and does not create a map frame.
This is the slam.yaml file:
slam:
ros__parameters:
# Plugin params
solver_plugin: solver_plugins::CeresSolver
ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
ceres_preconditioner: SCHUR_JACOBI
ceres_trust_strategy: LEVENBERG_MARQUARDT
ceres_dogleg_type: TRADITIONAL_DOGLEG
ceres_loss_function: None
# ROS Parameters
odom_frame: odom
map_frame: map
base_frame: base_link
scan_topic: /scans
# mode: mapping # It will be set in launch file
debug_logging: false
throttle_scans: 1
transform_publish_period: 0.02 # If 0 never publishes odometry
map_update_interval: 2.0
resolution: 0.04
max_laser_range: 12.0
minimum_time_interval: 0.1
transform_timeout: 0.2
tf_buffer_duration: 20.0
stack_size_to_use: 40000000
enable_interactive_mode: false
# General Parameters
use_scan_matching: true
use_scan_barycenter: true
minimum_travel_distance: 0.3
minimum_travel_heading: 0.5
scan_buffer_size: 10
scan_buffer_maximum_scan_distance: 7.0
link_match_minimum_response_fine: 0.1
link_scan_maximum_distance: 1.0
loop_search_maximum_distance: 3.0
do_loop_closing: true
loop_match_minimum_chain_size: 10
loop_match_maximum_variance_coarse: 3.0
loop_match_minimum_response_coarse: 0.35
loop_match_minimum_response_fine: 0.45
# Correlation Parameters - Correlation Parameters
correlation_search_space_dimension: 0.5
correlation_search_space_resolution: 0.01
correlation_search_space_smear_deviation: 0.1
# Correlation Parameters - Loop Closure Parameters
loop_search_space_dimension: 8.0
loop_search_space_resolution: 0.05
loop_search_space_smear_deviation: 0.03
# Scan Matcher Parameters
distance_variance_penalty: 0.5
angle_variance_penalty: 1.0
fine_search_angle_offset: 0.00349
coarse_search_angle_offset: 0.349
coarse_angle_resolution: 0.0349
minimum_angle_penalty: 0.9
minimum_distance_penalty: 0.5
use_response_expansion: true
And this is the slam.launch.py file:
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
slam_params_file = LaunchConfiguration('slam_params_file')
use_sim_time = LaunchConfiguration('use_sim_time')
slam_params_file_arg = DeclareLaunchArgument(
'slam_params_file',
default_value=PathJoinSubstitution(
[FindPackageShare("tests_pkg"), 'config', 'slam.yaml']
),
description='Full path to the ROS2 parameters file to use for the slam_toolbox node',
)
use_sim_time_arg = DeclareLaunchArgument(
'use_sim_time', default_value='false', description='Use simulation/Gazebo clock'
)
slam_node = Node(
package='slam_toolbox',
executable='async_slam_toolbox_node',
name='slam',
parameters=[slam_params_file, {'use_sim_time': use_sim_time}],
)
return LaunchDescription([use_sim_time_arg, slam_params_file_arg, slam_node])
What could be the reason?
Hello @DavRodFer ,
You specified the wrong topic name in the yaml file. This is probably the main reason why the no slam robot doesn’t work
DavRodFer:
scan_topic: /scans
Regards
Hello @RafalGorecki ,
Thanks.
Hello @RafalGorecki ,/opt/ros/jazzy/share/slam_toolbox/config/mapper_params_online_async.yaml the same results come out.mode param being commented, even after uncommenting it the same result happens and no /map topic appears.
DavRodFer:
slam_node = Node(
package='slam_toolbox',
executable='async_slam_toolbox_node',
name='slam',
parameters=[slam_params_file, {'use_sim_time': use_sim_time}],
)
However, even after changing it as indicated, there are no changes in the outcome.
Also, when I run the slam node it does not seem to subscribe to the /scan topic.
husarion@rosbot:~/ros2_ws$ ros2 node info /slam_toolbox
/slam_toolbox
Subscribers:
/parameter_events: rcl_interfaces/msg/ParameterEvent
Publishers:
/parameter_events: rcl_interfaces/msg/ParameterEvent
/rosout: rcl_interfaces/msg/Log
/slam_toolbox/transition_event: lifecycle_msgs/msg/TransitionEvent
Service Servers:
/slam_toolbox/change_state: lifecycle_msgs/srv/ChangeState
/slam_toolbox/describe_parameters: rcl_interfaces/srv/DescribeParameters
/slam_toolbox/get_available_states: lifecycle_msgs/srv/GetAvailableStates
/slam_toolbox/get_available_transitions: lifecycle_msgs/srv/GetAvailableTransitions
/slam_toolbox/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
/slam_toolbox/get_parameters: rcl_interfaces/srv/GetParameters
/slam_toolbox/get_state: lifecycle_msgs/srv/GetState
/slam_toolbox/get_transition_graph: lifecycle_msgs/srv/GetAvailableTransitions
/slam_toolbox/get_type_description: type_description_interfaces/srv/GetTypeDescription
/slam_toolbox/list_parameters: rcl_interfaces/srv/ListParameters
/slam_toolbox/set_parameters: rcl_interfaces/srv/SetParameters
/slam_toolbox/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
Service Clients:
Action Servers:
Action Clients:
Hello @DavRodFer ,
It still looks like the parameters are not being passed correctly. Check with the ros2 param get /slam_toolbox <parmaerter_name> command if the parameters are set with the config.
In the above message it still says name=slam (packages should stay as it is), but you check node /slam_toolbox, so I don’t know how to interpret that.
Also check if slam_params_file is the correct file path.
Regards
Hello @RafalGorecki ,
The first piece of code is referencing the first post, the name is changed as you indicated, that is why they have different names.
Regarding the parameters of the slam_toolbox none appear when I try to autocomplete, when on ROS 2 Humble many options appeared.
husarion@rosbot:~/ros2_ws$ ros2 param get /slam_toolbox
build/ install/ log/ src/
Could it possible there is some kind of problem with the slam_toolbox in the Jazzy version?
It should work. Command ros2 param list should show you all parameters. Then you can verify some of them using ros2 param get <node_name> <param_name>.
When running ros2 param list this is what I get:
/controller_manager:
diagnostic_updater.period
diagnostic_updater.use_fqn
imu_broadcaster.fallback_controllers
imu_broadcaster.params_file
imu_broadcaster.type
joint_state_broadcaster.fallback_controllers
joint_state_broadcaster.params_file
joint_state_broadcaster.type
qos_overrides./parameter_events.publisher.depth
qos_overrides./parameter_events.publisher.durability
qos_overrides./parameter_events.publisher.history
qos_overrides./parameter_events.publisher.reliability
robot_description
rosbot_base_controller.fallback_controllers
rosbot_base_controller.params_file
rosbot_base_controller.type
start_type_description_service
update_rate
use_sim_time
/ekf_filter_node:
base_link_frame
base_link_frame_output
control_timeout
debug
diagnostic_updater.period
diagnostic_updater.use_fqn
disabled_at_startup
dynamic_process_noise_covariance
frequency
gravitational_acceleration
history_length
imu0
imu0_config
imu0_differential
imu0_linear_acceleration_rejection_threshold
imu0_pose_rejection_threshold
imu0_queue_size
imu0_relative
imu0_remove_gravitational_acceleration
imu0_twist_rejection_threshold
imu1
initial_estimate_covariance
initial_state
map_frame
odom0
odom0_config
odom0_differential
odom0_pose_rejection_threshold
odom0_pose_use_child_frame
odom0_queue_size
odom0_relative
odom0_twist_rejection_threshold
odom1
odom_frame
permit_corrected_publication
pose0
predict_to_current_time
print_diagnostics
process_noise_covariance
publish_acceleration
publish_tf
qos_overrides./odometry/filtered.publisher.depth
qos_overrides./odometry/filtered.publisher.history
qos_overrides./odometry/filtered.publisher.reliability
qos_overrides./parameter_events.publisher.depth
qos_overrides./parameter_events.publisher.durability
qos_overrides./parameter_events.publisher.history
qos_overrides./parameter_events.publisher.reliability
qos_overrides./tf.publisher.depth
qos_overrides./tf.publisher.durability
qos_overrides./tf.publisher.history
qos_overrides./tf.publisher.reliability
reset_on_time_jump
sensor_timeout
smooth_lagged_data
start_type_description_service
tf_prefix
transform_time_offset
transform_timeout
twist0
two_d_mode
use_control
use_sim_time
world_frame
/foxglove_bridge:
address
asset_uri_allowlist
capabilities
certfile
client_topic_whitelist
disable_load_message
include_hidden
keyfile
max_qos_depth
min_qos_depth
param_whitelist
port
qos_overrides./parameter_events.publisher.depth
qos_overrides./parameter_events.publisher.durability
qos_overrides./parameter_events.publisher.history
qos_overrides./parameter_events.publisher.reliability
send_buffer_limit
service_whitelist
start_type_description_service
tls
topic_whitelist
use_compression
use_sim_time
/imu_broadcaster:
frame_id
is_async
sensor_name
start_type_description_service
static_covariance_angular_velocity
static_covariance_linear_acceleration
static_covariance_orientation
update_rate
use_sim_time
/imu_sensor_node:
qos_overrides./parameter_events.publisher.depth
qos_overrides./parameter_events.publisher.durability
qos_overrides./parameter_events.publisher.history
qos_overrides./parameter_events.publisher.reliability
start_type_description_service
use_sim_time
/joint_state_broadcaster:
extra_joints
interfaces
is_async
joints
map_interface_to_joint_state.effort
map_interface_to_joint_state.position
map_interface_to_joint_state.velocity
start_type_description_service
update_rate
use_local_topics
use_sim_time
use_urdf_to_filter
/joy_node:
autorepeat_rate
coalesce_interval_ms
deadzone
device_id
device_name
qos_overrides./parameter_events.publisher.depth
qos_overrides./parameter_events.publisher.durability
qos_overrides./parameter_events.publisher.history
qos_overrides./parameter_events.publisher.reliability
start_type_description_service
sticky_buttons
use_sim_time
/launch_ros_2607:
start_type_description_service
use_sim_time
/oak:
camera.i_calibration_dump
camera.i_enable_diagnostics
camera.i_enable_imu
camera.i_enable_ir
camera.i_enable_sync
camera.i_external_calibration_path
camera.i_floodlight_brightness
camera.i_ip
camera.i_laser_dot_brightness
camera.i_mx_id
camera.i_nn_type
camera.i_pipeline_dump
camera.i_pipeline_type
camera.i_publish_tf_from_calibration
camera.i_restart_on_diagnostics_error
camera.i_rs_compat
camera.i_tf_base_frame
camera.i_tf_cam_pitch
camera.i_tf_cam_pos_x
camera.i_tf_cam_pos_y
camera.i_tf_cam_pos_z
camera.i_tf_cam_roll
camera.i_tf_cam_yaw
camera.i_tf_camera_model
camera.i_tf_camera_name
camera.i_tf_custom_urdf_location
camera.i_tf_custom_xacro_args
camera.i_tf_imu_from_descr
camera.i_tf_parent_frame
camera.i_usb_port_id
camera.i_usb_speed
diagnostic_updater.period
diagnostic_updater.use_fqn
ffmpeg_image_transport.bit_rate
ffmpeg_image_transport.delay
ffmpeg_image_transport.encoding
ffmpeg_image_transport.gop_size
ffmpeg_image_transport.measure_performance
ffmpeg_image_transport.performance_interval
ffmpeg_image_transport.pixel_format
ffmpeg_image_transport.preset
ffmpeg_image_transport.profile
ffmpeg_image_transport.qmax
ffmpeg_image_transport.tune
oak.rgb.image_raw.compressed.format
oak.rgb.image_raw.compressed.jpeg_quality
oak.rgb.image_raw.compressed.png_level
oak.rgb.image_raw.compressed.tiff.res_unit
oak.rgb.image_raw.compressed.tiff.xdpi
oak.rgb.image_raw.compressed.tiff.ydpi
oak.rgb.image_raw.compressedDepth.depth_max
oak.rgb.image_raw.compressedDepth.depth_quantization
oak.rgb.image_raw.compressedDepth.format
oak.rgb.image_raw.compressedDepth.png_level
oak.rgb.image_raw.depth_max
oak.rgb.image_raw.depth_quantization
oak.rgb.image_raw.enable_pub_plugins
oak.rgb.image_raw.format
oak.rgb.image_raw.jpeg_quality
oak.rgb.image_raw.keyframe_frequency
oak.rgb.image_raw.optimize_for
oak.rgb.image_raw.png_level
oak.rgb.image_raw.quality
oak.rgb.image_raw.target_bitrate
oak.rgb.image_raw.theora.keyframe_frequency
oak.rgb.image_raw.theora.optimize_for
oak.rgb.image_raw.theora.quality
oak.rgb.image_raw.theora.target_bitrate
oak.rgb.image_raw.tiff.res_unit
oak.rgb.image_raw.tiff.xdpi
oak.rgb.image_raw.tiff.ydpi
oak.rgb.image_raw.zstd.zstd_level
pipeline_gen.i_enable_diagnostics
pipeline_gen.i_enable_imu
pipeline_gen.i_enable_sync
qos_overrides./parameter_events.publisher.depth
qos_overrides./parameter_events.publisher.durability
qos_overrides./parameter_events.publisher.history
qos_overrides./parameter_events.publisher.reliability
rgb.i_add_exposure_offset
rgb.i_board_socket_id
rgb.i_calibration_file
rgb.i_disable_node
rgb.i_enable_feature_tracker
rgb.i_enable_lazy_publisher
rgb.i_enable_nn
rgb.i_enable_preview
rgb.i_exposure_offset
rgb.i_fps
rgb.i_fsync_continuous
rgb.i_fsync_trigger
rgb.i_get_base_device_timestamp
rgb.i_height
rgb.i_interleaved
rgb.i_isp_den
rgb.i_isp_num
rgb.i_keep_preview_aspect_ratio
rgb.i_low_bandwidth
rgb.i_low_bandwidth_bitrate
rgb.i_low_bandwidth_ffmpeg_encoder
rgb.i_low_bandwidth_frame_freq
rgb.i_low_bandwidth_profile
rgb.i_low_bandwidth_quality
rgb.i_max_q_size
rgb.i_output_isp
rgb.i_preview_height
rgb.i_preview_size
rgb.i_preview_width
rgb.i_publish_compressed
rgb.i_publish_topic
rgb.i_resolution
rgb.i_reverse_stereo_socket_order
rgb.i_sensor_img_orientation
rgb.i_set_isp3a_fps
rgb.i_set_isp_scale
rgb.i_simulate_from_topic
rgb.i_simulated_topic_name
rgb.i_synced
rgb.i_update_ros_base_time_on_ros_msg
rgb.i_width
rgb.r_exposure
rgb.r_focus
rgb.r_iso
rgb.r_set_man_exposure
rgb.r_set_man_focus
rgb.r_set_man_whitebalance
rgb.r_whitebalance
start_type_description_service
use_sim_time
Wait for service timed out waiting for parameter services for node NodeName(name='oak_container', namespace='/', full_name='/oak_container')
/oak_state_publisher:
frame_prefix
ignore_timestamp
publish_frequency
qos_overrides./joint_states.subscription.depth
qos_overrides./joint_states.subscription.history
qos_overrides./joint_states.subscription.reliability
qos_overrides./parameter_events.publisher.depth
qos_overrides./parameter_events.publisher.durability
qos_overrides./parameter_events.publisher.history
qos_overrides./parameter_events.publisher.reliability
qos_overrides./tf.publisher.depth
qos_overrides./tf.publisher.durability
qos_overrides./tf.publisher.history
qos_overrides./tf.publisher.reliability
qos_overrides./tf_static.publisher.depth
qos_overrides./tf_static.publisher.history
qos_overrides./tf_static.publisher.reliability
robot_description
start_type_description_service
use_sim_time
/robot_state_publisher:
frame_prefix
ignore_timestamp
publish_frequency
qos_overrides./joint_states.subscription.depth
qos_overrides./joint_states.subscription.history
qos_overrides./joint_states.subscription.reliability
qos_overrides./parameter_events.publisher.depth
qos_overrides./parameter_events.publisher.durability
qos_overrides./parameter_events.publisher.history
qos_overrides./parameter_events.publisher.reliability
qos_overrides./tf.publisher.depth
qos_overrides./tf.publisher.durability
qos_overrides./tf.publisher.history
qos_overrides./tf.publisher.reliability
qos_overrides./tf_static.publisher.depth
qos_overrides./tf_static.publisher.history
qos_overrides./tf_static.publisher.reliability
robot_description
start_type_description_service
use_sim_time
/rosbot_base_controller:
angular.z.has_acceleration_limits
angular.z.has_jerk_limits
angular.z.has_velocity_limits
angular.z.max_acceleration
angular.z.max_jerk
angular.z.max_velocity
angular.z.min_acceleration
angular.z.min_jerk
angular.z.min_velocity
base_frame_id
cmd_vel_timeout
enable_odom_tf
is_async
left_wheel_names
left_wheel_radius_multiplier
linear.x.has_acceleration_limits
linear.x.has_jerk_limits
linear.x.has_velocity_limits
linear.x.max_acceleration
linear.x.max_jerk
linear.x.max_velocity
linear.x.min_acceleration
linear.x.min_jerk
linear.x.min_velocity
odom_frame_id
open_loop
pose_covariance_diagonal
position_feedback
publish_limited_velocity
publish_rate
right_wheel_names
right_wheel_radius_multiplier
start_type_description_service
tf_frame_prefix
tf_frame_prefix_enable
twist_covariance_diagonal
update_rate
use_sim_time
velocity_rolling_window_size
wheel_radius
wheel_separation
wheel_separation_multiplier
Wait for service timed out waiting for parameter services for node NodeName(name='rosbot_ros2_firmware', namespace='/', full_name='/rosbot_ros2_firmware')
/rosbot_system_node:
qos_overrides./parameter_events.publisher.depth
qos_overrides./parameter_events.publisher.durability
qos_overrides./parameter_events.publisher.history
qos_overrides./parameter_events.publisher.reliability
start_type_description_service
use_sim_time
/rplidar_node:
angle_compensate
auto_standby
channel_type
flip_x_axis
frame_id
inverted
qos_overrides./parameter_events.publisher.depth
qos_overrides./parameter_events.publisher.durability
qos_overrides./parameter_events.publisher.history
qos_overrides./parameter_events.publisher.reliability
scan_frequency
scan_mode
serial_baudrate
serial_port
start_type_description_service
tcp_ip
tcp_port
topic_name
udp_ip
udp_port
use_sim_time
/slam_toolbox:
/bond_disable_heartbeat_timeout
stack_size_to_use
start_type_description_service
use_sim_time
/teleop_twist_joy_node:
axis_angular.pitch
axis_angular.roll
axis_angular.yaw
axis_linear.x
axis_linear.y
axis_linear.z
enable_button
enable_turbo_button
frame
inverted_reverse
publish_stamped_twist
qos_overrides./parameter_events.publisher.depth
qos_overrides./parameter_events.publisher.durability
qos_overrides./parameter_events.publisher.history
qos_overrides./parameter_events.publisher.reliability
require_enable_button
scale_angular.pitch
scale_angular.roll
scale_angular.yaw
scale_angular_turbo.pitch
scale_angular_turbo.roll
scale_angular_turbo.yaw
scale_linear.x
scale_linear.y
scale_linear.z
scale_linear_turbo.x
scale_linear_turbo.y
scale_linear_turbo.z
start_type_description_service
use_sim_time
Wait for service timed out waiting for parameter services for node NodeName(name='transform_listener_impl_aaaac69c3410', namespace='/', full_name='/transform_listener_impl_aaaac69c3410')
Where only these parameters are for the slam_toolbox node:
/slam_toolbox:
/bond_disable_heartbeat_timeout
stack_size_to_use
start_type_description_service
use_sim_time
How should I interpret this? Is there a problem with the package?
I looked into the slam_toolbox package and the way it is launched in Ros 2 Jazzy has changed significantly. Please base your launch file on the default launcher and change the path to the configuration file:
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import (DeclareLaunchArgument, EmitEvent, LogInfo,
RegisterEventHandler)
from launch.conditions import IfCondition
from launch.events import matches_action
from launch.substitutions import (AndSubstitution, LaunchConfiguration,
NotSubstitution)
from launch_ros.actions import LifecycleNode
from launch_ros.event_handlers import OnStateTransition
from launch_ros.events.lifecycle import ChangeState
from lifecycle_msgs.msg import Transition
def generate_launch_description():
autostart = LaunchConfiguration('autostart')
use_lifecycle_manager = LaunchConfiguration("use_lifecycle_manager")
use_sim_time = LaunchConfiguration('use_sim_time')
show original
After applying this change, everything should work.
Hello @RafalGorecki ,
That solved it. Thank you very much.
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