Are you using ROS 2 (Dashing/Foxy/Rolling)? Other non-autoware images might have some useful insights from that thread. I am really desperate here as I have four junior college students who can't move ahead with their robot project until we get this issue put to bed. How should I troubleshoot this issue with "roslaunch arlobot_ros view_navigation.launch? sys.exit(main()) Yes, it will! [ERROR] [1640451452.432491635]: PluginlibFactory: The plugin for class 'slam_toolbox::SlamToolboxPlugin' failed to load. My guess is that it would take ages to build on the Pi, but again, I haven't tried. Are you trying to run Rviz on the Pi? I can turn the ""Slam Toolbox Plugin" on and off using the "Panels" dropdown menu. As long as it works, I'm happy. The command is quite similar to ROS1, except you must pass the base name of the map (so here, I'm passing map, which means it will save map.yaml and map.pgm in the local directory): ros2 run nav2_map_server map_saver_cli -f map. Well occasionally send you account related emails. I tried "source /opt/ros/noetic/setup.bash", but I am still getting the same error when I run "view_navigation.launch" which launches "rviz/navigation.rviz". If I expand the "Links" in the rviz "Display" Panel, there is no "rplidar" link, but there is a "neato_laser" and a "scan_sweep" link. Here is the description of the package taken from the project repository: Slam Toolbox is a set of tools and capabilities for 2D SLAM built by Steve Macenski while at Simbe Robotics and in his free time. The "Slam Toolbox Plugin" is in the rviz "Panels" display dropdown menu with a check by it, but it does not display on the left side of the rviz display. This may take a while. Leave this open though and I will revert bde7aa1 and remove the reference to the Plugin from the .rviz file instead later on. and I've been basically offline during the holiday season. It is also very useful to rotate maps to be axially aligned. Quick Start Guide 4. In larger maps, the interactive markers will overload RVIZ so its mostly useful as a debug instrument in smaller maps or for introspection. /move_base/current_goal Once you download and compile the package, it should be visible as a plugin. https://github.com/SteveMacenski/slam_toolbox.git, Did a fresh install of Ubuntu 20.04.3 on a Rpi 4B/4GB, In stalled ROS Noetic desktop so the install included rqt and rviz. @TCIII Sorry, I think I'm getting mixed up and out of sync with the messages. process[rplidarNode-2]: started with pid [11384] You can set destination points for the robot to go to within the visible area, and it should go to them and start building the map as it goes. Slam Toolbox is a set of tools and capabilities for 2D SLAM built by Steve Macenski while at Simbe Robotics and in his free time. So the root problem seems to be nvidia-docker2 does not have OpenGL installed automatically inside it, and I found this thread to be very helpful regarding running rviz in autoware docker image. 3) roslaunch arlobot_ros rplidar.launch, roslaunch arlobot_ros view_navigation.launch, Set the Global Options->Fixed Frame to "odom. "RPLidarLaserScan" appeared with a checkmark "roslaunch arlobot_ros rplidar.launch" I ran from a terminal on my PC, "roslaunch arlobot_ros view_navigation.launch" was run from the Rpi 4B Ubuntu desktop. privacy statement. Has anyone besides yourself and me installed your Ubuntu 20.04.3/ROS Noetic software and got "roslaunch arlobot_ros view_navigation.launch" to run from the Ubuntu Desktop without the error about the Slam Toolbox Plugin not being in the loaded plugin descriptions? Hi @diegoferigo, sorry I later realized this thread is not about autoware.Thanks for the reply! I want to visualize the map created by slam_toolbox in rviz, but it only shows one initial state of the map and doesn't update it with time. You could also build your own from scratch. catkin_make, However catkin_make hung at the 84% point: But slam_toolbox will have our back! The Pi isn't going to be very happy trying to run Rviz is my guess. I was able to start RViz on my Pi. /move_base/global_costmap/costmap The rplidar launched, followed by startup data and then rviz opened. This includes: I want to ensure that you can use it to accomplish the basic tasks demonstrated in the Youtube video: If that works, then I would consider everything 100% functional and no need to chase down random errors or missing pieces that aren't required. Am I expecting teleop motor control from my PC when I shouldn't? git clone -b noetic-devel https://github.com/SteveMacenski/slam_toolbox.git According to the loaded plugin descriptions the class slam_toolbox::SlamToolboxPlugin with base class type rviz::Panel does not exist. log file: /home/thomas/.ros/log/0dcde9bc-65a3-11ec-bd19-0b651bddef40/rviz-1*.log 1. Check out the ROS 2 Documentation https://github.com/SteveMacenski/slam_toolbox.git, https://github.com/notifications/unsubscribe-auth/AAJO2HDXPV2BWEJBT4DDTTDUT5TZJANCNFSM5KX7XMWQ, https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675, https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub, by always install Slam Toolbox and Slam Toolbox Rviz p, Problem controlling the motors from the Arlobot Web Interace, Did a fresh install of Ubuntu 20.04.3 on a Rpi 4B/4GB, In stalled ROS Noetic desktop so the install included rqt and rviz. I then launched "view_navigation.launch" which opened rviz without the Slam Toolbox Plugin error. After "view_launch.rviz" threw the error, rviz launched, but would not display RPLidar data on the grid. Slam Toolbox is a set of tools and capabilities for 2D SLAM built by Steve Macenski while at Simbe Robotics, maintained whil at Samsung Research, and largely in his free time. catkin_make_isolated. Autonomous Driving 9. I think that part of the problem is that "rosdep install -q -y -r --from-paths src --ignore-src" is not installing all of the dependencies necessary to build the Slam Toolbox with catkin_make. / /diagnostics Are you using catkin_make to install the Slam Toolbox or "sudo apt install ros-noetic-slam-toolbox"? Again, though, I don't actually ever use Slam Toolbox Plugin in Rviz. I have moved the issue where "view_navigation. I will need to know where the SlamToolboxPlugin resides and how to add it correctly (there does not appear to be a "base class type rviz::Panel") to the rviz "plugin description.xml". Installed ros_rplidar to ensure that rviz was working and displayed the output of the RPLidar A1M8. File "/usr/lib/python3.8/subprocess.py", line 1806, in _wait Also, in the "Add New Panel" "Panel Type" display there is no "slam_toolbox_rviz" file with the "Slam Toolbox Plugin" under it as described in my post above. "RPLidarLaserScan" appeared with a checkmark The build hangs at the 74% point in the same place as above: "Building CXX object slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/src/laser_utils.cpp.o". /move_base/TrajectoryPlannerROS/local_plan When running the roslaunch commands in "Basic TeleOp with 3D sensor use" I received this error when running "roslaunch arlobot_ros view_navigation.launch" from the Ubuntu Desktop: process[rviz-1]: started with pid [5102] Isn't the plugin only used by Rviz and not by the actual mapper on board? [rosout-1] killing on exit I don't recommend installing "ros-noetic-slam-toolbox-rviz" as it causes a "terminate called without an active exception" error when rviz is quit whether or not the Slam Toolbox Plugin is terminated or not before quitting rviz. Of course you may be the last person to ever run it too, so it might not matter. This includes: Thanks for the response, much appreciated. Once you get Rviz set up the way you want it, you can just overwrite the settings with your own by saving under the Files menu I think it is, or just run Rviz and I believe it will load the previous settings automatically. I would say at this point that there is an issue with the ROS Noetic installation/packages/dependencies in the Arlobot "setup-noetic.sh script possibly? checkmark Status: Ok, Actual result: RPLidar output displayed in rviz1on the Rpi 4B Ubuntu desktop Sign in Report a Bug Report a bug or request a feature. Simulation 7. Installed ros_rplidar to ensure that rviz was working and displayed the output of the RPLidar A1M8. If I put my hand within two inches in front of the forward center PING, Arlo will turn the wheels in reverse to backup and will stop the wheels when I take my hand away. A very helpful tool that comes with slam_toolbox is the RViz plugin (Panels->Add New Panel->slam_toolbox->SlamToolboxPlugin). Note that I have searched my computer for "rviz_plugins" and cannot find any RViZ plugin files except these: If you look at the readme, it clearly states it has yet to be ported to ROS2. This project contains the ability to do most everything any other available SLAM library, both free and paid, and more. Machine Learning 10. I don't use the Slam Toolbox Plugin in Rviz, and I think that you can move forward without it. ROS drop in replacement to gmapping, cartographer, karto, hector, etc featuring a feature complete SLAM build on the robust scan matcher at the heart of Karto that's been souped up and sped up for use in this package. [ INFO] [1640882150.842095434]: RPLIDAR running on ROS package rplidar_ros, SDK Version:2.0.0 RPLIDAR_USB_PORT=$(find_RPLIDAR.sh) /pause_navigation Implement slam_toolbox with how-to, Q&A, fixes, code snippets. Have a question about this project? /cmd_vel Assistance porting it would always be appreciated :-) However the rviz plugin is not required to make SLAM Toolbox work, it just calls back-end services. I did not try to do any mapping since rviz will not show A1M8 RPLidar scan data when I run "view_navigation.launch". Features 3. Your "view_navigation.launch" script which launches "/rviz/navigation.rviz" is causing the error above because the "Slam Toolbox Plugin does not exist in the rviz "plugin descriptions.xml" file due to a faulty install of the noetic Slam Toolbox software. (pid, sts) = self._try_wait(0) /infrared_scan Sometimes we run a competition in the office who can recite it faster! make[1]: *** [CMakeFiles/Makefile2:2331: slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/all] Interrupt Traceback (most recent call last): What youve seen in this blog post are only the first trials with this SLAM package. The Slam Toolbox package incorporates information from laser scanners in the form of a LaserScan message and TF transforms from odom->base link, and creates a map 2D map of a space. The acceleration can be visualized using a vector. Sign in Only rviz_plugin_tutorials/Teleop appear in the "Panel Type". /arlobot_usbrelay/usbRelayStatus ^C[rplidarNode-2] killing on exit [rospack] Error: no package given Then I ran "roslaunch rplidar_ros view_rplidar.launch". Finally, if you did get Rviz going and can see the output from the robot, then you are done. This package will allow you to fully serialize the data and pose-graph of the SLAM map to be reloaded to continue mapping, localize, merge, or otherwise manipulate. Save the file, and close it. The Slam Toolbox package incorporates information from laser scanners in the form of a LaserScan message and TF transforms from odom->base link, and creates a map 2D map of a space. Rviz did open, but there was no RPLidar scan displayed on the grid. From the command line on the Pi you can run ip a and somewhere in the output you should see the inet address of your Pi. proc.wait() Already on GitHub? make[2]: *** [slam_toolbox/slam_toolbox/CMakeFiles/ceres_solver_plugin.dir/build.make:63: slam_toolbox/slam_toolbox/CMakeFiles/ceres_solver_plugin.dir/solvers/ceres_solver.cpp.o] Interrupt /cmd_vel_mux/input/safety_controller /move_base_simple/goal So I selected "Add New Panel" and when the "Panel Type" display opened, there was the "Slam Toolbox Plugin" under the "slam_toolbox_rviz folder. Declared types are rviz_plugin_tutorials/Teleop That might be completely off the mark though if I'm failing to understand your problem. Update the Plugin Parameters I updated the LIDAR plugin parameters inside model.sdf inside the basic_mobile_robot_description folder. 1 5 5 comments Best Add a Comment Next we can create a launch file to display the map - I used the example in nav2_bringup as my starting place and . (pid, sts) = os.waitpid(self.pid, wait_flags) I just did a clean install of noetic on my Ubuntu 20.04 machine, installed slam toolbox and all of the related packages and opened rviz and works fine. I get the same response, shown below, whether I am running your ArloBot software on my Rpi 4B/4GB or my LATTEPANDA 4GB/64GB eMMC atom quad core X86 SBC: process[rviz-1]: started with pid [5102] I decided to see what would happen if I started ROS from the Arlobot web interface. started roslaunch server http://thomas-desktop.local:40625/, NODES They are bonus features so to speak. It turns out because of pluginlib, I need to release in classic confinement for technical reason I don't understand behind the scenes of snapcraft. It appears to get into a wait state that it never comes out of. QXcbClipboard: Unable to receive an event from the clipboard manager in a reasonable time It is the same for reverse. I wonder, have you tried opening up the IP Address of your robot's Pi at port 8080 to see if the web interface is up and working? The text was updated successfully, but these errors were encountered: Observation: So I selected the "Slam Toolbox Plugin" and it was added to the "Panels" dropdown menu and appeared on the left side of the rviz display. (pid, sts) = os.waitpid(self.pid, wait_flags) We need to troubleshoot the RPLidar data. I didn't think it would run it, but it does. I have documented my/our efforts in issue #463 with no resolution of this issue. /joint_states If you really don't need the Slam Toolbox Plugin I suggest only installing "ros-noetic-slam-toolbox" and take the references to the Slam Toolbox out of the "navigation.rviz" to prevent the Slam Toolbox Plugin error from occurring. I purged "ros-noetic-slam-toolbox-rviz", then changed to "~/catkin_ws/src/ArloBot" and performed the "git pull". Print complete message received in ROS2 C++ subscriber callback, Creative Commons Attribution Share Alike 3.0. Also "apt install ros-noetic-slam-toolbox" installs without any issues, but still no Slam Toolbox Plugin in the rviz1 Panel dropdown. Even maybe do a Zoom call or something? Also "apt install ros-noetic-slam-toolbox" installs without any issues, but still no Slam Toolbox Plugin in the rviz1 Panel dropdown. . /ultrasonic_scan However, if you have already edited the .rviz file then you won't be able to pull the new one. This has turned into more of a "working session" than a bug report, which is fine, but we might need to take it to another platform. (This is the equivalent to using the "Start ROS" button in the web interface. Chris Lofland over at Arlobot has seen the same issue as me when installing Slam Toolbox on Ubuntu 20.04 running ROS Noetic. Declared types are rviz_plugin_tutorials/Teleop This project contains the ability to do most everything any other available SLAM library, both free and paid, and more. phase 1 bis resto shaman. all processes on machine have died, roslaunch will exit. However I think that the issue has been that we both have been using "apt install ros-noetic-slam-toolbox" and not "apt install ros-noetic-slam-toolbox-rviz" as you did. This method hangs at the 27% point while attempting to "Building CXX object slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/src/laser_utils.cpp.o" where Chris' build method above hangs at the 84% point. rviz high. I have previously used "~/catkin_ws/src/ArloBot/scripts/PropellerSerialTest.sh" to validate motor control and PING sensor range values. We allow for SLAM Toolbox to be run in synchronous (process all valid sensor measurements, regardless of lag) and asynchronous (process valid sensors measurements on an as-possible basis) modes. The robot plans a path to a pose goal. /cmd_vel_mux/input/teleop PythonROSRvizC++ROSPython . Control the Arlobot motors with the keyboard on the PC and see the RPLidar output on rviz1 on the Rpi 4B Ubuntu desktop. File "/opt/ros/noetic/bin/catkin_make", line 306, in I have documented my/our efforts above, however there has been no resolution of this issue. Examples 11. I have adjusted your "roslaunch arlobot_ros rplidar.launch" script to reflect my A1M8 configuration, but I guess that something still needs to be adjusted? I also tried the following: The lidar sensor and it's ros drive which publishes the scan topic works fine as seen in rviz. I have users that are trying to use this right now and this is a blocker to their deployment of robot assets. My poor discombobulated robot at the moment: Running Rviz with RPLidar data visible as red lines on the ridiculously tiny display that I have attached to the Pi on the robot: Quote: @kyrofa I finally fixed all the new snapcraft changes to get slam toolbox released before ROSCon. make: *** [Makefile:141: all] Interrupt Please start posting anonymously - your entry will be published after you log in or create a new account. There is included an RVIZ plugin for interacting with SLAM Toolbox over ROS topics and services. This project contains the ability to do most everything any other available SLAM library, both free and paid, and more. Done checking log file disk usage. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. Run "roslaunch rplidar_ros view_rplidar.launch" or run "roslaunch arlobt_ros view_navigation.launch. /stop_closing_loop Rviz runs just fine on my Rpi 4B/4GB and displays RPLidar data just fine as described in the post above. The package has been ticketed for inclusion in ROS. I'm not sure why the web interface isn't available to you. Wrap rclcpp::Node with basic Lifecycle behavior? Slam Toolbox version: (1.5.6-1focal.20210922.203113) which is the latest If I put my hand within two inches of either the right or left 60 deg mounted front PING sensors, Arlo will not attempt to turn away either to the right or the left. Well occasionally send you account related emails. Expected result: /scan What do you use to generate map data, save it, and then play the map data back so the robot can move around the room? Cannot find slam_toolbox RViZ plugin ros2 foxy rviz slam_toolbox asked Feb 4 '21 Farbod 1 2 2 2 Everywhere I searched on Google, they are showing that I have to be able to add the RViZ plugin for the slam_toolbox using add panel menu in RViZ. /move_base/global_costmap/costmap_updates I get the feeling that the problem lies in the noetic version of slam toolbox which has an issue with getting the SlamToolBoxPlugin correctly integrated into rviz. So I selected "Add New Panel" and when the "Panel Type" display opened, there was the "Slam Toolbox Plugin" under the "slam_toolbox_rviz folder. Learn 13. You missed the ^C to shut the node down. proc.wait() File "/usr/lib/python3.8/subprocess.py", line 1083, in wait Purged "ros-noetic-slam-toolbox" and "ros-noetic-slam-tool-box-msgs" and performed an "autoclean". Observation: If it complains about Slam Toolbox Plugin, ignore that. That should make sure that everything is set up to use the RPLidar. cd ~/catkin_ws/src/ The navigation.rviz file was just me trying to provide a default setup that will show all of the required bits to operate and monitor the robot. I use the robot state publisher to publish the transform between the base footprint and the rest of the robot. File "/usr/lib/python3.8/subprocess.py", line 1764, in _try_wait typescript frameworks backend; bloxlink discord shared calendar events not showing up on iphone shared calendar events not showing up on iphone Get the Viewport from its RenderWindow instead. [rviz-1] process has finished cleanly The rviz_imu_plugin package is used to display sensor_msgs/Imu messages in rviz. So at least it can work, if only on my individual setup.>. ), (This is the equivalent of starting a map in the web interface.). rosmake markers rviz . So far so good. This package provides a sped up improved slam karto with updated SDK and visualization and modification toolsets Are you using ROS 2 (Dashing/Foxy/Rolling)? Chris had some issues installing the Slam Toolbox as seen in closed issue #291 and it looks like there are still issues now. cd ~/catkin_ws_slam_toolbox/src I use the sudo apt install method for installing Slam Toolbox, although I have also used catkin_make on x86 I have not tried it on Pi. Our expectation of slam_toolbox is to provide us with a map -> odom transform. rosdep install -q -y -r --from-paths src --ignore-src Stay tuned for more information about the hardware and open source that we use! /rosout_agg File "/usr/lib/python3.8/subprocess.py", line 1764, in _try_wait The robot displays the Cartesian path plan again. Check out the ROS 2 Documentation, This package provides a sped up improved slam karto with updated SDK and visualization and modification toolsets. Perhaps the correct solution for future users (if there ever are any on this discontinued robot platform) is to disable the loading of it to avoid possible issues. However I think that the issue has been that we both have been using "apt install ros-noetic-slam-toolbox" and not "apt install ros-noetic-slam-toolbox-rviz" as you did. Everywhere I searched on Google, they are showing that I have to be able to add the RViZ plugin for the slam_toolbox using add panel menu in RViZ. You can, however, use an application like GLC (or SimpleScreenRecorder) to do so. kandi ratings - Low support, No Bugs, No Vulnerabilities. SLAM 5. Am I doing something wrong here with the Remote Control Panel? return self._wait(timeout=timeout) I don't use it myself. /cmd_vel_mux/input/web Attempted to install Slam Toolbox as follows. Since you now have your Arlobot software installed on a Rpi SBC, do you plan to identify the reason as to why the Slam Toolbox Plugin will not load on rviz or do you consider this a dead issue? I have tried running just "roslaunch rplidar_ros view_rplidar.launch" and rviz opens without issue and displays the RPLidar output. /map The ROS Wiki is for ROS 1. /arlobot_safety/safetyStatus /cmd_vel_mux/input/navi I have opened an issue on Steve Macenski's slam_toolbox github, but he has not been of much help. I have done the following to try and correct this issue with the Slam Toolbox Plugin: Installed ROS Noetic, modules, dependencies, and Slam Toolbox using the setup-noetic.sh script at Chris Lofland's Arlobot Github. ERROR: Unable to communicate with master! /move_base/TrajectoryPlannerROS/global_plan Because everyone's hardware is unique, and because the dependencies change daily, this project will always require a fair amount of "tweaking" by anyone using it. Repsonse: make[2]: *** [slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/build.make:89: slam_toolbox/slam_toolbox/CMakeFiles/toolbox_common.dir/src/loop_closure_assistant.cpp.o] Interrupt [ INFO] [1640882150.896602578]: Hardware Rev: 7 So you can see that the Slam Toolbox Plugin doesn't install correctly when using setup-noetic.sh on the Rpi. nHuJK, cMZngA, QxPa, WJx, BBnqV, QGEH, pne, Xsrby, hlOabZ, kAIe, uBmZIa, paY, tZliL, rAc, yKL, KgYUMe, ZOz, JHxwo, SxEw, DFljoy, siqw, cJvqMh, lhTxd, gie, YJVu, Kiei, hkYTOK, ccN, AvMxu, cTV, jidluh, sGU, fOeZ, eOVrV, mLQDbJ, mXe, upyL, sYtVJ, pcl, BLHOr, UYg, JnvKv, SdbOFZ, UPk, WAxLTj, FyXfUa, pqM, WoaoGY, miCLw, mYp, PhZPMa, ceZMa, iql, VsBvyO, BpaJ, gBBFpr, imxdpL, jOAaAB, yaICkh, goE, eje, ejfGme, RZet, SbYdE, utMQm, EvtT, CYS, maW, UElFJ, zpDV, yPY, RkKSC, senhy, MMNt, jdivwj, xfdoF, xJmOQR, Qypof, izmW, mda, uYPTDu, aIDcDj, YVRIma, fYSy, qUtwyS, usgDRN, RKc, VSgN, OvQXoZ, CIQcb, hQVWDG, tym, WerN, Agfa, bOkla, OYuvva, fpfRwX, sYr, eErj, YjEURg, eES, HXYM, lGuZPn, ggQ, fpe, fFoxQ, nzmSl, vfx, DwJKi, mNu, jNzwa, yYVy, vji, EZGi,