ROS 2 Branch Many Issues

[benijohn]

Hi, I am just wondering if the ROS2 branch is actually working or is still a work in progress. I have got it to build, but none of the examples work, they all fail for one reason or another. The simple turtle I can get to run and I see the topics registered for /elevation_map/elevation_filtered ... or /elevation_raw, but there is nothing be published on these topics. The default launch for turtle bot seems to have a mis-configured transform so there is no transform to map or odom frames present.

If I try to launch my own configuration, I also fail at different points. Using the elevation_mapping_node.py It gets to:

[elevation_mapping_node.py-1] [INFO] [1759843360.950419588] [elevation_mapping_node]: Initialized map with length: 80.0, resolution: 0.2, cells: 402

and just hangs here, I don't see any reason why it should hang, but it never gets to registering subscribers/publishers.

If I use elevation_mapping_node.cpp I get the error that there are no subscribers/publishers to register and the node dies. But I am passing in the robot configuration file.

Would it be possible to add a little bit of info to the read me or post somewhere on what all needs to change when migrating from ROS1 version to the ROS2 version? Is there something obvious I am doing wrong?

Thanks!

[iiisaac40]

HI @benijohn I am just another user and it is perfectly fine for me using the ROS2 branch.

I do face some issue running on turtle sim, so I ignore that part. But it is fine for me to run on my real hardware. I just setup the custom config file for my Lidar (basically copy and paste everything from the examples) and launch it. Then I can see the map.

[benijohn]

Hey @iiisaac40 thanks for your reply. I don't understand what I am doing wrong. Did you build from source or use the docker? I finally got past the PCL transport issue, but now the node fails on initialization:

[elevation_mapping_node-1] [INFO] [1760705347.737099426] [elevation_mapping_node]: Initializing map with points using linear [elevation_mapping_node-1] terminate called after throwing an instance of 'pybind11::error_already_set' [elevation_mapping_node-1] what(): AttributeError: 'ElevationMap' object has no attribute 'get_position' [ERROR] [elevation_mapping_node-1]: process has died [pid 23220, exit code -6, cmd '/home/rzr-admin/auto-rzr/install/elevation_mapping_cupy/lib/elevation_mapping_cupy/elevation_mapping_node --ros-args -r __node:=elevation_mapping_node --params-file /tmp/launch_params_2twzt42m --params-file /tmp/launch_params_xgbnjq2c --params-file /tmp/launch_params_jp5veci9'].
The old one worked out of the box. I don't know if this is something I have done wrong or a bug.

[iiisaac40]

Hey @iiisaac40 thanks for your reply. I don't understand what I am doing wrong. Did you build from source or use the docker? I finally got past the PCL transport issue, but now the node fails on initialization:

[elevation_mapping_node-1] [INFO] [1760705347.737099426] [elevation_mapping_node]: Initializing map with points using linear [elevation_mapping_node-1] terminate called after throwing an instance of 'pybind11::error_already_set' [elevation_mapping_node-1] what(): AttributeError: 'ElevationMap' object has no attribute 'get_position' [ERROR] [elevation_mapping_node-1]: process has died [pid 23220, exit code -6, cmd '/home/rzr-admin/auto-rzr/install/elevation_mapping_cupy/lib/elevation_mapping_cupy/elevation_mapping_node --ros-args -r __node:=elevation_mapping_node --params-file /tmp/launch_params_2twzt42m --params-file /tmp/launch_params_xgbnjq2c --params-file /tmp/launch_params_jp5veci9']. The old one worked out of the box. I don't know if this is something I have done wrong or a bug.

Hi, I built it from source like colcon build --packages-up-to elevation_mapping_cupy and run the node. Then it is fine for me. Unfortunately, I haven't faced the PCL issue.

[xuyuxiu83]

HI @benijohn I am just another user and it is perfectly fine for me using the ROS2 branch.

I do face some issue running on turtle sim, so I ignore that part. But it is fine for me to run on my real hardware. I just setup the custom config file for my Lidar (basically copy and paste everything from the examples) and launch it. Then I can see the map.

May I ask how you cope with the dependencies on ROS1? I checked the ROS2 branch and see there are many dependencies realated to ROS1. You only compile the elevation_mapping_cupy package and it worked?

[SirErico]

HI @benijohn I am just another user and it is perfectly fine for me using the ROS2 branch.
I do face some issue running on turtle sim, so I ignore that part. But it is fine for me to run on my real hardware. I just setup the custom config file for my Lidar (basically copy and paste everything from the examples) and launch it. Then I can see the map.

May I ask how you cope with the dependencies on ROS1? I checked the ROS2 branch and see there are many dependencies realated to ROS1. You only compile the elevation_mapping_cupy package and it worked?

I did so and it worked. I also added plane_segmentation package to colcon ignore as well as forcing numpy==1.24.2.

[benijohn]

I don't recall all the steps I took. I do recall that the convex plane decomp was a pain. I think maybe this package still had catkin as the build type? I have updated all the cmakes to ament. But I am not sure if the convex plane decomp is active in this ros2 version? I noticed that all the filters that were in the ros1 version are not here or have moved. You can probably safely ignore complex plane decomp.

[xuyuxiu83]

HI @benijohn I am just another user and it is perfectly fine for me using the ROS2 branch.
I do face some issue running on turtle sim, so I ignore that part. But it is fine for me to run on my real hardware. I just setup the custom config file for my Lidar (basically copy and paste everything from the examples) and launch it. Then I can see the map.

May I ask how you cope with the dependencies on ROS1? I checked the ROS2 branch and see there are many dependencies realated to ROS1. You only compile the elevation_mapping_cupy package and it worked?

I did so and it worked. I also added plane_segmentation package to colcon ignore as well as forcing numpy==1.24.2.

Could U please tell me what platform you used for compiling this project? I'm using Jetson AGX Orin as my platform and meet so many issues. And in this ros version(humble) there is no available gazebo_ros package to install. I'm very confusing now and your help would be greatly appreciated!

[benijohn]

I am building with x64 ubuntu22/ ros humble. I have not tried building on Jetson. I am not sure about the gazebo_ros dependency, but if you don't need the turtlesim example you might be able to skip it? I could never get the turtlesim stuff to work, but mapping node runs (only python version) and publishes maps.

[iiisaac40]

Same here. I skip those related with turtlesim and gazebo. I deploy both on Jetson ROS2 humble and x86 ROS humble.

Btw, have you guys tried to deploy on a quadruped? I found the result is not desired. As long as the movement of the quadruped gets a bit abrupt (like climbing stairs or stepping laterally), the elevation map failed and not updating anymore.

[xuyuxiu83]

Same here. I skip those related with turtlesim and gazebo. I deploy both on Jetson ROS2 humble and x86 ROS humble.

Btw, have you guys tried to deploy on a quadruped? I found the result is not desired. As long as the movement of the quadruped gets a bit abrupt (like climbing stairs or stepping laterally), the elevation map failed and not updating anymore.

I encountered a runtime crash issue with image_callback when deploying on Jetson Orin and using python code. I don't know why this is happening. Could you please tell me whether you used lidar point cloud as input or image format as input when you were deploying on Jetson? From my intuition, the problem you are encountering with the quadruped is most likely related to odometry drift.

[iiisaac40]

Same here. I skip those related with turtlesim and gazebo. I deploy both on Jetson ROS2 humble and x86 ROS humble.
Btw, have you guys tried to deploy on a quadruped? I found the result is not desired. As long as the movement of the quadruped gets a bit abrupt (like climbing stairs or stepping laterally), the elevation map failed and not updating anymore.

I encountered a runtime crash issue with image_callback when deploying on Jetson Orin and using python code. I don't know why this is happening. Could you please tell me whether you used lidar point cloud as input or image format as input when you were deploying on Jetson? From my intuition, the problem you are encountering with the quadruped is most likely related to odometry drift.

I am using lidar point cloud as input.

[leeyngdo]

Hi, have you guys ever encountered the error No map layer 'normal_x' available?

[wrj700]

Hey @iiisaac40 thanks for your reply. I don't understand what I am doing wrong. Did you build from source or use the docker? I finally got past the PCL transport issue, but now the node fails on initialization:

[elevation_mapping_node-1] [INFO] [1760705347.737099426] [elevation_mapping_node]: Initializing map with points using linear [elevation_mapping_node-1] terminate called after throwing an instance of 'pybind11::error_already_set' [elevation_mapping_node-1] what(): AttributeError: 'ElevationMap' object has no attribute 'get_position' [ERROR] [elevation_mapping_node-1]: process has died [pid 23220, exit code -6, cmd '/home/rzr-admin/auto-rzr/install/elevation_mapping_cupy/lib/elevation_mapping_cupy/elevation_mapping_node --ros-args -r __node:=elevation_mapping_node --params-file /tmp/launch_params_2twzt42m --params-file /tmp/launch_params_xgbnjq2c --params-file /tmp/launch_params_jp5veci9']. The old one worked out of the box. I don't know if this is something I have done wrong or a bug.

Hello, have you solved this problem? I also encountered the same issue. Also, are you using the Docker version? Is there any directly deployed locally?

[wrj700]

Hey @iiisaac40 thanks for your reply. I don't understand what I am doing wrong. Did you build from source or use the docker? I finally got past the PCL transport issue, but now the node fails on initialization:
[elevation_mapping_node-1] [INFO] [1760705347.737099426] [elevation_mapping_node]: Initializing map with points using linear [elevation_mapping_node-1] terminate called after throwing an instance of 'pybind11::error_already_set' [elevation_mapping_node-1] what(): AttributeError: 'ElevationMap' object has no attribute 'get_position' [ERROR] [elevation_mapping_node-1]: process has died [pid 23220, exit code -6, cmd '/home/rzr-admin/auto-rzr/install/elevation_mapping_cupy/lib/elevation_mapping_cupy/elevation_mapping_node --ros-args -r __node:=elevation_mapping_node --params-file /tmp/launch_params_2twzt42m --params-file /tmp/launch_params_xgbnjq2c --params-file /tmp/launch_params_jp5veci9']. The old one worked out of the box. I don't know if this is something I have done wrong or a bug.

Hi, I built it from source like colcon build --packages-up-to elevation_mapping_cupy and run the node. Then it is fine for me. Unfortunately, I haven't faced the PCL issue.

Hello, do you have any links to projects that are directly built using source code? I always make all kinds of mistakes when using Docker. Thank you very much!

[taylerkubins]

Same here. I skip those related with turtlesim and gazebo. I deploy both on Jetson ROS2 humble and x86 ROS humble.

Btw, have you guys tried to deploy on a quadruped? I found the result is not desired. As long as the movement of the quadruped gets a bit abrupt (like climbing stairs or stepping laterally), the elevation map failed and not updating anymore.

Hi, I have deployed on the Jetson ROS2 humble too. Have you ever encountered with the issue that the fps of the map gradually decreases over time. The hardware I use is Livox MID360 and Jetson Orin. Thanks for your help