ros2 support for turtlebot3_cartographer

ISSUE TEMPLATE ver. 0.2.0

1. Which TurtleBot3 you have?

   • Burger
   • [x ] Waffle
   • Waffle Pi

2. Which SBC(Single Board Computer) is working on TurtleBot3?

   • Raspberry Pi 3
   • [x ] Intel Joule 570x
   • etc (PLEASE, WRITE DOWN YOUR SBC HERE)

3. Which OS you installed in SBC?

   • [x ] Ubuntu MATE 16.04 or later
   • Raspbian
   • etc (PLEASE, WRITE DOWN YOUR OS)

4. Which OS you installed in Remote PC?

   • Ubuntu 16.04 LTS (Xenial Xerus)
   • [x ] Ubuntu 18.04 LTS (Bionic Beaver)
   • Linux Mint 18.x
   • etc (PLEASE, WRITE DOWN YOUR OS)

5. Write down software version and firmware version

   • Software version: [x.x.x]
   • Firmware version: [x.x.x]

6. Write down the commands you used in order

robot@NUC1804:~/turtlebot3_ws/src/turtlebot3/turtlebot3_cartographer$ ros2 launch `ros2 pkg prefix turtlebot3_cartographer`/share/turtlebot3_cartographer/launch/turtlebot3_cartographer.py

1. Copy and Paste your error message on terminal

[ERROR] [launch.LaunchService]: Caught exception in launch (see debug for traceback): executable 'occupancy_grid_node' not found on the libexec directory '/home/robot/cartographer_ws/install/cartographer_ros/lib/cartographer_ros' 
[INFO] [launch]: process[cartographer_node-1]: started with pid [29031]
[INFO] [launch]: sending signal 'SIGINT' to process[cartographer_node-1]

1. Please, describe detailedly what difficulty you are in

I have teleop working on my turtlebot3 running ROS2 now. So now I want to run cartographer. I see you recently made commits to add occupancy_grid_node to the launch file. When I try to run I get errors. It looks like occupancy_grid_node is not yet ported. Is there any way to run turtlebot3_cartographer yet? If not, what is the status and when do you expect that to work?

[mkhansenbot]

Works now, thanks!

[routiful]

@mkhansen-intel Yes, it worked for my PC. qos in which map subscriber in map_generator.cpp was set default. So I modified qos of map publisher to be set default.

https://github.com/ros-planning/navigation2/blob/3f65576a98330de0cb832d2c344474b2b604142d/nav2_map_server/src/map_generator.cpp#L55