ros2 launch turtlebot3_cartographer cartographer.launch.py
위 명령어 실행하면 Rviz 창이 켜졌다가 바로 꺼집니다. 재부팅하고 해봐도 계속 똑같은 증상이 있습니다.
ros2 launch turtlebot3_cartographer cartographer.launch.py
[INFO] [launch]: All log files can be found below /home/kinetix/.ros/log/2024-04-15-09-48-17-439589-kinetix-17ZD90Q-EX76K-3576
[INFO] [launch]: Default logging verbosity is set to INFO
/opt/ros/foxy/share/turtlebot3_cartographer/launch/cartographer.launch.py:56: UserWarning: The parameter ‘node_executable’ is deprecated, use ‘executable’ instead
Node(
/opt/ros/foxy/share/turtlebot3_cartographer/launch/cartographer.launch.py:56: UserWarning: The parameter ‘node_name’ is deprecated, use ‘name’ instead
Node(
/opt/ros/foxy/share/turtlebot3_cartographer/launch/cartographer.launch.py:81: UserWarning: The parameter ‘node_executable’ is deprecated, use ‘executable’ instead
Node(
/opt/ros/foxy/share/turtlebot3_cartographer/launch/cartographer.launch.py:81: UserWarning: The parameter ‘node_name’ is deprecated, use ‘name’ instead
Node(
/opt/ros/foxy/share/turtlebot3_cartographer/launch/occupancy_grid.launch.py:44: UserWarning: The parameter ‘node_executable’ is deprecated, use ‘executable’ instead
Node(
/opt/ros/foxy/share/turtlebot3_cartographer/launch/occupancy_grid.launch.py:44: UserWarning: The parameter ‘node_name’ is deprecated, use ‘name’ instead
Node(
[INFO] [cartographer_node-1]: process started with pid [3578]
[INFO] [occupancy_grid_node-2]: process started with pid [3580]
[INFO] [rviz2-3]: process started with pid [3582]
[cartographer_node-1] [INFO] [1713142097.498326453] [cartographer_ros]: I0415 09:48:17.000000 3578 configuration_file_resolver.cc:41] Found ‘/opt/ros/foxy/share/turtlebot3_cartographer/config/turtlebot3_lds_2d.lua’ for ‘turtlebot3_lds_2d.lua’.
[cartographer_node-1] [INFO] [1713142097.498512742] [cartographer_ros]: I0415 09:48:17.000000 3578 configuration_file_resolver.cc:41] Found ‘/opt/ros/foxy/share/cartographer/configuration_files/map_builder.lua’ for ‘map_builder.lua’.
[cartographer_node-1] [INFO] [1713142097.498522969] [cartographer_ros]: I0415 09:48:17.000000 3578 configuration_file_resolver.cc:41] Found ‘/opt/ros/foxy/share/cartographer/configuration_files/map_builder.lua’ for ‘map_builder.lua’.
[cartographer_node-1] [INFO] [1713142097.498549252] [cartographer_ros]: I0415 09:48:17.000000 3578 configuration_file_resolver.cc:41] Found ‘/opt/ros/foxy/share/cartographer/configuration_files/pose_graph.lua’ for ‘pose_graph.lua’.
[cartographer_node-1] [INFO] [1713142097.498556296] [cartographer_ros]: I0415 09:48:17.000000 3578 configuration_file_resolver.cc:41] Found ‘/opt/ros/foxy/share/cartographer/configuration_files/pose_graph.lua’ for ‘pose_graph.lua’.
[cartographer_node-1] [INFO] [1713142097.498628027] [cartographer_ros]: I0415 09:48:17.000000 3578 configuration_file_resolver.cc:41] Found ‘/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder.lua’ for ‘trajectory_builder.lua’.
[cartographer_node-1] [INFO] [1713142097.498635231] [cartographer_ros]: I0415 09:48:17.000000 3578 configuration_file_resolver.cc:41] Found ‘/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder.lua’ for ‘trajectory_builder.lua’.
[cartographer_node-1] [INFO] [1713142097.498650882] [cartographer_ros]: I0415 09:48:17.000000 3578 configuration_file_resolver.cc:41] Found ‘/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder_2d.lua’ for ‘trajectory_builder_2d.lua’.
[cartographer_node-1] [INFO] [1713142097.498657073] [cartographer_ros]: I0415 09:48:17.000000 3578 configuration_file_resolver.cc:41] Found ‘/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder_2d.lua’ for ‘trajectory_builder_2d.lua’.
[cartographer_node-1] [INFO] [1713142097.498702245] [cartographer_ros]: I0415 09:48:17.000000 3578 configuration_file_resolver.cc:41] Found ‘/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder_3d.lua’ for ‘trajectory_builder_3d.lua’.
[cartographer_node-1] [INFO] [1713142097.498708752] [cartographer_ros]: I0415 09:48:17.000000 3578 configuration_file_resolver.cc:41] Found ‘/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder_3d.lua’ for ‘trajectory_builder_3d.lua’.
[cartographer_node-1] [INFO] [1713142097.506800720] [cartographer_ros]: I0415 09:48:17.000000 3578 submap_2d.cc:187] Added submap 1
[cartographer_node-1] [INFO] [1713142097.506840890] [cartographer_ros]: I0415 09:48:17.000000 3578 map_builder_bridge.cc:132] Added trajectory with ID ‘0’.
[cartographer_node-1] [INFO] [1713142097.604947009] [cartographer_ros]: I0415 09:48:17.000000 3578 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at ‘638487389025764691’.
[rviz2-3] [INFO] [1713142097.683248052] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1713142097.683383663] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-3] [INFO] [1713142097.700873050] [rviz2]: Stereo is NOT SUPPORTED
[cartographer_node-1] [INFO] [1713142097.726306572] [cartographer_ros]: I0415 09:48:17.000000 3578 local_trajectory_builder_2d.cc:295] Extrapolator not yet initialized.
[cartographer_node-1] [INFO] [1713142097.726350694] [cartographer_ros]: I0415 09:48:17.000000 3578 local_trajectory_builder_2d.cc:138] Extrapolator is still initializing.
[rviz2-3] rviz2: /tmp/binarydeb/ros-foxy-rviz-ogre-vendor-8.2.8/.obj-x86_64-linux-gnu/ogre-v1.12.1-prefix/src/ogre-v1.12.1/OgreMain/include/OgreAxisAlignedBox.h:225: void Ogre::AxisAlignedBox::setExtents(const Vector3&, const Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z <= max.z) && “The minimum corner of the box must be less than or equal to maximum corner”’ failed.
[cartographer_node-1] [WARN] [1713142097.915442616] [cartographer_ros]: W0415 09:48:17.000000 3578 range_data_collator.cc:76] Dropped 1 earlier points.
[cartographer_node-1] [WARN] [1713142098.066645695] [cartographer_ros]: W0415 09:48:18.000000 3578 range_data_collator.cc:76] Dropped 2 earlier points.
[cartographer_node-1] [WARN] [1713142098.166728504] [cartographer_ros]: W0415 09:48:18.000000 3578 range_data_collator.cc:76] Dropped 1 earlier points.
[cartographer_node-1] [WARN] [1713142098.267476581] [cartographer_ros]: W0415 09:48:18.000000 3578 range_data_collator.cc:76] Dropped 3 earlier points.
[cartographer_node-1] [WARN] [1713142098.463335152] [cartographer_ros]: W0415 09:48:18.000000 3578 range_data_collator.cc:76] Dropped 2 earlier points.
[cartographer_node-1] [WARN] [1713142098.564500857] [cartographer_ros]: W0415 09:48:18.000000 3578 range_data_collator.cc:76] Dropped 1 earlier points.
[cartographer_node-1] [WARN] [1713142098.763827375] [cartographer_ros]: W0415 09:48:18.000000 3578 range_data_collator.cc:76] Dropped 1 earlier points.
[cartographer_node-1] [WARN] [1713142098.862942413] [cartographer_ros]: W0415 09:48:18.000000 3578 range_data_collator.cc:76] Dropped 1 earlier points.
[ERROR] [rviz2-3]: process has died [pid 3582, exit code -6, cmd ‘/opt/ros/foxy/lib/rviz2/rviz2 -d /opt/ros/foxy/share/turtlebot3_cartographer/rviz/tb3_cartographer.rviz --ros-args -r __node:=rviz2 -r __node:=rviz2 --params-file /tmp/launch_params_t9t4jxds’].
[cartographer_node-1] [WARN] [1713142099.064355703] [cartographer_ros]: W0415 09:48:19.000000 3578 range_data_collator.cc:76] Dropped 2 earlier points.
[cartographer_node-1] [WARN] [1713142099.364698443] [cartographer_ros]: W0415 09:48:19.000000 3578 range_data_collator.cc:76] Dropped 2 earlier points.