SLAM generates multiple maps.

[kanpapa]

ISSUE TEMPLATE ver. 0.4.0

1. Which TurtleBot3 platform do you use?

   • Burger
   • Waffle
   • Waffle Pi

2. Which ROS is working with TurtleBot3?

   • ROS 1 Kinetic Kame
   • ROS 1 Melodic Morenia
   • ROS 1 Noetic Ninjemys
   • ROS 2 Dashing Diademata
   • ROS 2 Eloquent Elusor
   • ROS 2 Foxy Fitzroy
   • etc (Please specify your ROS Version here)

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

   • Intel Joule 570x
   • Raspberry Pi 3B+
   • Raspberry Pi 4
   • etc (Please specify your SBC here)

4. Which OS you installed on SBC?

   • Raspbian distributed by ROBOTIS
   • Ubuntu MATE (16.04/18.04/20.04)
   • Ubuntu preinstalled server (18.04/20.04)
   • etc (Please specify your OS here)

5. Which OS you installed on Remote PC?

   • Ubuntu 16.04 LTS (Xenial Xerus)
   • Ubuntu 18.04 LTS (Bionic Beaver)
   • Ubuntu 20.04 LTS (Focal Fossa)
   • Windows 10
   • MAC OS X (Specify version)
   • etc (Please specify your OS here)

6. Specify the software and firmware version(Can be found from Bringup messages)

   • Software version: [x.x.x]
   • Firmware version: [V220624R1]

7. Specify the commands or instructions to reproduce the issue.

   • In the process of SLAM with keyboard operation.

8. Copy and Paste the error messages on terminal.

   • Error message not found.
   • See attachment for Rviz2 screen.
     

9. Please describe the issue in detail.

   • When SLAM is performed, the map may suddenly move to another location. As a result, multiple maps are generated.
   • This does not occur with ROS1 Melodic.

[kanpapa]

Another pattern.

[kanpapa]

Continuing, three maps were created.

[ROBOTIS-Ashe]

@kanpapa

Hi. Sorry for the late reply.
The reported issue seems to have a similar cause to #880.
I'll take a look at the OpenCR firmware.
thank you

[kanpapa]

Thank you for your reply.
I will also include the OpenCR update log since you mentioned a possible firmware issue.
Thank you in advance.

ubuntu@ubuntu:~/opencr_update$  ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr
aarch64
arm
OpenCR Update Start..
opencr_ld_shell ver 1.0.0
opencr_ld_main
[  ] file name          : burger.opencr
[  ] file size          : 132 KB
[  ] fw_name            : burger
[  ] fw_ver             : V220624R1
[OK] Open port          : /dev/ttyACM0
[  ]
[  ] Board Name         : OpenCR R1.0
[  ] Board Ver          : 0x17020800
[  ] Board Rev          : 0x00000000
[OK] flash_erase        : 1.07s
[OK] flash_write        : 1.33s
[OK] CRC Check          : D26544 D26544 , 0.004000 sec
[OK] Download
[OK] jump_to_fw
ubuntu@ubuntu:~/opencr_update$

[kanpapa]

I checked odm and the value of position y has suddenly increased.

before

after

[kanpapa]

This seems to be the same issue #821

[kanpapa]

I downgraded the OpenCR firmware from the latest to 0.0.3 and it now works properly.
I will try to run turtlebot3 with foxy in this state for a while.

ubuntu@ubuntu:~$ wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS2/0.0.3/opencr_update.tar.bz2
ubuntu@ubuntu:~$ tar -xjf ./opencr_update.tar.bz2
ubuntu@ubuntu:~$ cd opencr_update/
ubuntu@ubuntu:~/opencr_update$ ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr
aarch64
arm
OpenCR Update Start..
opencr_ld_shell ver 1.0.0
opencr_ld_main 
[  ] file name   	: burger.opencr 
[  ] file size   	: 127 KB
[  ] fw_name     	: burger 
[  ] fw_ver      	: V190829R3 
[OK] Open port   	: /dev/ttyACM0
[  ]
[  ] Board Name  	: OpenCR R1.0
[  ] Board Ver   	: 0x17020800
[  ] Board Rev   	: 0x00000000
[OK] flash_erase 	: 1.06s
[OK] flash_write 	: 1.29s 
[OK] CRC Check   	: CBBCC4 CBBCC4 , 0.004000 sec
[OK] Download 
[OK] jump_to_fw 
ubuntu@ubuntu:~/opencr_update$ 

[ra-georgi]

I downgraded the OpenCR firmware from the latest to 0.0.3 and it now works properly. I will try to run turtlebot3 with foxy in this state for a while.

ubuntu@ubuntu:~$ wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS2/0.0.3/opencr_update.tar.bz2
ubuntu@ubuntu:~$ tar -xjf ./opencr_update.tar.bz2
ubuntu@ubuntu:~$ cd opencr_update/
ubuntu@ubuntu:~/opencr_update$ ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr
aarch64
arm
OpenCR Update Start..
opencr_ld_shell ver 1.0.0
opencr_ld_main 
[  ] file name   	: burger.opencr 
[  ] file size   	: 127 KB
[  ] fw_name     	: burger 
[  ] fw_ver      	: V190829R3 
[OK] Open port   	: /dev/ttyACM0
[  ]
[  ] Board Name  	: OpenCR R1.0
[  ] Board Ver   	: 0x17020800
[  ] Board Rev   	: 0x00000000
[OK] flash_erase 	: 1.06s
[OK] flash_write 	: 1.29s 
[OK] CRC Check   	: CBBCC4 CBBCC4 , 0.004000 sec
[OK] Download 
[OK] jump_to_fw 
ubuntu@ubuntu:~/opencr_update$ 

Hi, is SLAM and navigation with NAV2 working properly for you now in Foxy? Also, did you run these commands directly in Foxy?

[ROBOTIS-Will]

An updated OpenCR ROS2 firmware V220127R1 (0.2.1) is released.
Please download and upload the new firmware and let me know if this doesn't fix the problem.
Thank you very much for your patience!

[kanpapa]

The problem has been resolved in the firmware V220127R1 (0.2.1).
Thank you very much.