mushr slam mapping

[park-dongjun]

Following the tutorials, I finished all the installation process and ram slam, but as shown in the picture above, RobotModel error occurs and mapping does not work. Plz help me

[palanc]

Hi @park-dongjun - Let's see if getting the model to show up helps first. I am guessing that the model is not showing up because rviz does not know where to find the mesh models. In the terminal that launches rviz on your desktop/laptop, have you source'd the workspace that contains the MuSHR stack?

[park-dongjun]

Teleop works just fine. You can see capture above.
But when I run gmapping, I get the error.
We suspect that /car/map and /map conflict with each other, causing this problem.

These are our problem at rviz.

When we just launch teleop rviz can get model, but when we launch gmapping there are big problem.

[park-dongjun]

I think there are two publisher so they conflict each other please check and if you want to get more information , tell us

[palanc]

In rviz, Displays -> Global Options -> Fixed Frame should be set /car/map. Also, Displays -> Map -> Topic should also be set to /car/map. Have you tried that?

[park-dongjun]

Yes. I changed Global Options -> Fixed Frame to /car/map, Displays -> Map -> Topic to /car/map as pictured.

Even after doing so, the same problem occurs. What should I do?..

[mcdoerr]

I'm not sure why the map won't continue to update. That's strange behavior. When slam is running, can you run rostopic list?

[park-dongjun]

Here is the ROS Topic list, laptop IP, and MuSHR IP.

[mcdoerr]

That all looks as expected. I bet that you're right about the /car/map and /map topic conflicting with eachother. Let's see if we can turn off the /map topic. Can you run rostopic info /map when all the nodes are running so we can see what is publishing that? There might be multiple publishers.

Also, can you make sure your code is up to date? We removed some code that was causing multiple map servers to be running, just want to make sure that isn't running.

[mcdoerr]

Also, FYI, I have run into the issue with the robot model not showing up as you pictured. I think it's a transform issue and slam worked even when the robot was white, so I don't think they are related.

[park-dongjun]

We also think that /car/map and /map collide. A photo of rostopic info /map is attached below. please help me how to solve this problem

[park-dongjun]

This is rostopic info /map and carmap

[Choiki1228]

Did you solve this, I'm having the same problem as you. Can you help me solve this problem or give me some advice.