Running Carter robot gmapping, lidar_initializer error


We have built the Carter robot with all of its required components. Trying to start the gmapping app, and we are getting an error with lidar_initializer, which is the PoseInitializer component. It seems to start the VelodyneLidar component just fine, but it running into an error in the PoseInitializer.

Here are the last few errors:

2019-11-06 11:32:00.702 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet '2d_carter.carter_hardware.vlp16/VelodyneLidar' ...
2019-11-06 11:32:00.703 DEBUG   engine/alice/backend/codelet_backend.cpp@73: Starting codelet '2d_carter.carter_hardware.vlp16/VelodyneLidar' DONE
2019-11-06 11:32:00.703 DEBUG   engine/alice/backend/codelet_backend.cpp@291: Starting job for codelet '2d_carter.carter_hardware.vlp16/VelodyneLidar'
2019-11-06 11:32:00.703 DEBUG   engine/alice/backend/codelet_backend.cpp@61: Starting codelet '2d_carter.carter_hardware.vlp16/lidar_initializer' ...
2019-11-06 11:32:00.703 PANIC   ./engine/alice/hooks/config_hook.hpp@98: Parameter '2d_carter.carter_hardware.vlp16/lidar_initializer/lhs_frame' not found or wrong type
2019-11-06 11:32:00.750 ERROR   engine/alice/component.cpp@61: Component '2d_carter.carter_hardware.vlp16/VelodyneLidar' reported an error: Empty message or timeout: code=4294967295, errno=4
2019-11-06 11:32:00.751 ERROR   engine/alice/backend/event_manager.cpp@40: Stopping node '2d_carter.carter_hardware.vlp16' because it reached status 'FAILURE'

Fixed this:

There were two problems. Loading in the carter config file fixed the lidar_initializer error, because this is where they pass the params for lhs_frame, or you can initialize the params in the carter_hardware subgraph. And the empty message error was due to the Velodyne not being connected. Was able to go into network settings for the Lidar and register it’s IP address.

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