Getting some problems running the gazebo demo(mapping)

[NPMN]

Hi guys!

I having a problem when running Gazebo demo(mapping). I started looking at this fork yesterday and when i runned the hector_mapping launch file it could not run. I looked at the file and saw the hector_mapping node tag so did some research. This ended with finding the fork of hector_slam.

I cloned it into my catkin_ws and this made it possible for the launch file to run.

At this point all things worked. In Gazebo mir_maze_world was up and running

I continued by running commands of #navigation directives and here i get into some problems when i run the navigation.rviz command, rviz opens and when i either run the 2D Nav or using the controller. rviz shows only the mir robot and some shitty background of the potential map.
But in the Gazebo, the mir robot is running but nothing happens with mapping in rviz?

What should I do to get mapping started??

I attached pictures of rviz and gazebo.

[mintar]

For the demo do work, you don't even need to install anything into your catkin workspace; you can install everything from binaries like this:

sudo apt install ros-kinetic-mir-robot ros-kinetic-hector-mapping

Then, simply follow the steps from the section "Gazebo demo (mapping)" in the README. I just tried them, and they worked, except that I found a small bug. You have to add local_planner:=dwb to the roslaunch mir_navigation move_base.xml command. The fixed version is this:

### gazebo:
roslaunch mir_gazebo mir_maze_world.launch
rosservice call /gazebo/unpause_physics   # or click the "start" button in the Gazebo GUI

### mapping:
roslaunch mir_navigation hector_mapping.launch.xml

### navigation:
roslaunch mir_navigation move_base.xml with_virtual_walls:=false local_planner:=dwb
rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz

I've just pushed a commit that makes this fix unnecessary in the future.

[NPMN]

Nice, i will try this! Thank you

[NPMN]

@mintar I works when running the nodes, but the sensor don't map the environment, no obstacles are showing up. One possibility is that is the graphic card is to slow and memory overflow..

Got [ INFO] [1565092950.400744822, 23.687000000]: Recovery behavior will clear layer obstacles [ INFO] [1565092950.404619068, 23.687000000]: Recovery behavior will clear layer obstacles [ INFO] [1565092950.724130853, 23.750000000]: odom received! [ WARN] [1565092962.611137002, 26.975000000]: Costmap2DROS transform timeout. Current time: 26.9750, global_pose stamp: 26.5600, tolerance: 0.4000 [ WARN] [1565092962.611189261, 26.975000000]: Could not get robot pose, cancelling reconfiguration

When running the move_base launch file.

Either way, i moved around with the robot and no mapping was done. the only thing that i got was.

I followed your directives, attaching result from rviz and gazebo can be seen below.

[mintar]

Could you run the following command and paste the result (while everything is running)?

rostopic echo -n1 /scan

Also, can you visualize the "scan" topic in RViz?

Probably your guess is right, and the graphics card is not sufficient for Gazebo. This has been reported several times before: #1

[NPMN]

@mintar Yes. it was the graphic cards. Got exactly like result generated by the attached link.
header: seq: 955 stamp: secs: 77 nsecs: 86000000 frame_id: "back_laser_link" angle_min: -2.3561899662 angle_max: 2.3561899662 angle_increment: 0.00872662942857 time_increment: 0.0 scan_time: 0.0 range_min: 0.0500000007451 range_max: 29.0 ranges: [-inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf, 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I will test the same with a nvidia graphic card.

Thank you @mintar! very helpful.