SLAM 구동 시 오류 건 (3) > STELLA_N1_Forum

안녕하세요.

아이디어 로봇입니다.

slam진행 중 tf에서 odom은 map에 연결되어야 하는데 첨부하여 주신 frames에서는 map이 보이지 않습니다.

rosrun tf tf_echo map odom을 확인하여 주세요.

우선 roswtf 명령어를 매 오류 시 입력할 떄
ERROR The following nodes should be connected but aren't:
 * /move_base->/move_base (/move_base/global_costmap/footprint)
 * /move_base->/move_base (/move_base/local_costmap/footprint)

라는 오류가 발생하였습니다.

rosrun tf tf_echo map odom을 slam 구동 이후 입력 시

At time 1707810474.902
- Translation: [2.193, 0.006, -0.071]
- Rotation: in Quaternion [0.000, 0.000, 0.001, 1.000]
            in RPY (radian) [0.000, -0.000, 0.001]
            in RPY (degree) [0.000, -0.000, 0.080]
At time 1707810475.550
- Translation: [2.192, 0.004, -0.071]
- Rotation: in Quaternion [0.000, 0.000, 0.001, 1.000]
            in RPY (radian) [0.000, -0.000, 0.001]
            in RPY (degree) [0.000, -0.000, 0.083]
At time 1707810476.547
- Translation: [2.193, 0.007, -0.071]
- Rotation: in Quaternion [0.000, 0.000, 0.001, 1.000]
            in RPY (radian) [0.000, -0.000, 0.001]
            in RPY (degree) [0.000, -0.000, 0.077]

위와 같이 뜨다가
오류 발생 이후에는 아래와 같이 나왔습니다.

At time 1707810688.550
- Translation: [6.687, -0.333, -0.071]
- Rotation: in Quaternion [0.000, 0.000, -0.029, 1.000]
            in RPY (radian) [0.000, 0.000, -0.057]
            in RPY (degree) [0.000, 0.000, -3.283]
At time 1707810690.616
- Translation: [6.601, 1.220, -0.071]
- Rotation: in Quaternion [0.000, 0.000, 0.088, 0.996]
            in RPY (radian) [0.000, -0.000, 0.177]
            in RPY (degree) [0.000, -0.000, 10.127]
At time 1707810690.748
- Translation: [6.603, 1.218, -0.071]
- Rotation: in Quaternion [0.000, 0.000, 0.088, 0.996]
            in RPY (radian) [0.000, -0.000, 0.177]
            in RPY (degree) [0.000, -0.000, 10.127]
At time 1707810692.176
- Translation: [6.384, 2.108, -0.071]
- Rotation: in Quaternion [0.000, 0.000, 0.157, 0.988]
            in RPY (radian) [0.000, -0.000, 0.315]
            in RPY (degree) [0.000, -0.000, 18.041]

... 오류 발생 후 1분 뒤 값입니다.
At time 1707810837.957
- Translation: [144.769, 13.591, -0.071]
- Rotation: in Quaternion [0.000, 0.000, -0.205, 0.979]
            in RPY (radian) [0.000, 0.000, -0.413]
            in RPY (degree) [0.000, 0.000, -23.666]
At time 1707810837.957
- Translation: [144.769, 13.591, -0.071]
- Rotation: in Quaternion [0.000, 0.000, -0.205, 0.979]
            in RPY (radian) [0.000, 0.000, -0.413]
            in RPY (degree) [0.000, 0.000, -23.666]
At time 1707810840.752
- Translation: [146.097, 16.771, -0.071]
- Rotation: in Quaternion [0.000, 0.000, 0.161, 0.987]
            in RPY (radian) [0.000, -0.000, 0.324]
            in RPY (degree) [0.000, -0.000, 18.567]

추가로 오류 발생 시 slam 작동한 터미널 내에
[ERROR] [1707811004.466999501]: Extrapolation Error looking up robot pose: Lookup would require extrapolation into the past.  Requested time 1707810951.657657200 but the earliest data is at time 1707810998.259796728, when looking up transform from frame [base_footprint] to frame [map]

[ WARN] [1707811004.467104969]: W0213 16:56:44.000000  4610 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1707810939.917374800 but the earliest data is at time 1707810998.259796728, when looking up transform from frame [odom] to frame [imu_link]
[ WARN] [1707811004.472032729]: W0213 16:56:44.000000  4610 tf_bridge.cc:52] Lookup would require extrapolation into the past.  Requested time 1707810939.917374800 but the earliest data is at time 1707810998.259796728, when looking up transform from frame [odom] to frame [imu_link]

위 출력들이 매우 빠른 속도로 생겼습니다.

에러 상황에서 rqt_graph를 통해 topic과 node의 연결이 어떻게 되어 있는지 확인하여 주실 수 있으신가요?