Assistance Required for Lidar Mapping without 3D Lidar on Nova Carter

[1950822362]

Hello NVIDIA Community,

I am currently engaging with the lidar mapping tutorial as provided on the NVIDIA Isaac ROS documentation website for the Nova Carter robot. Tutorial Link

I have successfully executed the mapping program after adjusting all parameters for the 3D LiDAR to false. However, I am encountering a problem where the map is not being rendered in Foxglove, despite the robot functioning correctly.

I have included the corresponding log file (log.txt) and a screenshot of Foxglove for your review.

Could you please assist me with troubleshooting this issue? I am particularly interested in advice on how to effectively generate a map of the environment using the Nova Carter robot without the 3D LiDAR, and why the map might not be showing up in Foxglove.

I appreciate any help you can provide.

log.txt (39.6 KB)

[1950822362]

Subject: Assistance with Map Refresh Issue after Disabling 3D LiDAR

Hello again,

I have made adjustments to the launch parameters and configuration file as follows, and I have managed to display a map without using the 3D LiDAR. However, the map does not refresh and only shows the content of the first frame. It seems this issue might be due to the large volume of messages like the following that are output to the terminal:

[async_slam_toolbox_node-12] [INFO] [1724909967.267395504] [slam_toolbox]: Message Filter dropping message: frame 'front_2d_lidar' at time 1724909967.069 for reason 'discarding message because the queue is full'

Here are the changes I made:

1. In the launch file, I updated the teleop.launch.py inclusion with the following parameters:

plaintext

actions.append(
    lu.include(
        'nova_carter_bringup',
        'launch/teleop.launch.py',
        launch_arguments={
            'enabled_fisheye_cameras': True,
            'enabled_stereo_cameras': True,
            'enabled_2d_lidars': 'front_2d_lidar,back_2d_lidar',
            'enable_3d_lidar': False,
            'enable_wheel_odometry': True,
        },
    ))

2. In the configuration file, I made sure the following parameters are set:

yaml

# ROS Parameters
odom_frame: odom
map_frame: map
base_frame: base_link
scan_topic: /front_2d_lidar/scan
mode: mapping

I have included a screenshot of the running system and the output log log2.txt. In the screenshot, it is clear that the 2D LiDAR output has changed, but the map does not refresh accordingly.

Could anyone please offer guidance on how to resolve the map refreshing issue? I would appreciate any suggestions on what I might have overlooked or any additional parameters I should adjust.

Thank you for your help.
log2.txt (47.4 KB)

[1950822362]

Subject: Issue with Isaac ROS Navigation Tutorial

Hello everyone,

I have encountered some issues while trying to follow the navigation tutorial on the NVIDIA Isaac ROS official documentation website. Navigation Tutorial Link

The previous problem with mapping has been resolved. I found that as long as the cart moves away from its location, the map will refresh, and the map file has been successfully generated and saved.

Now, I am trying to use this map for autonomous navigation according to the tutorial and have modified the relevant parameters:

python

args.add_arg('enable_3d_lidar_localization', False, cli=True)

However, after running, the terminal output a lot of problems, making it impossible to execute. I have attached the relevant log file log3.txt.

I hope to receive guidance and help from everyone, thank you very much!
log3.txt (26.8 KB)

[1950822362]

I encountered some issues while trying to perform navigation with Isaac ROS, which turned out to be due to my mistake of using a .pngmap file as a .yaml file. Now that I have used the correct .yaml file, the navigation is working as expected.