Turtlebot3多机建图时出现的tf问题

解决方法
 

ubuntu@burger:~$ locate SerialClient

/opt/ros/kinetic/lib/python2.7/dist-packages/rosserial_python/SerialClient.py

/opt/ros/kinetic/lib/python2.7/dist-packages/rosserial_python/SerialClient.pyc



ubuntu@burger:~$ sudo vim /opt/ros/kinetic/lib/python2.7/dist-packages/rosserial_python/SerialClient.py

修改341行的 timeout值 增大延时时间

def __init__(self, port=None, baud=57600, timeout=5.0, fix_pyserial_for_test=False):

重新启动小车及查看tf树
 
启动后OpenCR反馈出来的信息
 

[INFO] [1575526873.772037]: Setup TF on Odometry [tb3_0/odom]
[INFO] [1575526873.778939]: Setup TF on IMU [tb3_0/imu_link]
[INFO] [1575526873.785893]: Setup TF on MagneticField [tb3_0/mag_link]
[INFO] [1575526873.791598]: Setup TF on JointState [tb3_0/base_link]
 


 

ubuntu@burger:~$ ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_0" set_lidar_frame_id:="tb3_0/base_scan"

... logging to /home/ubuntu/.ros/log/bfe964d6-1722-11ea-8909-000c2965f318/roslaunch-burger-1750.log

Checking log directory for disk usage. This may take awhile.

Press Ctrl-C to interrupt

Done checking log file disk usage. Usage is <1GB.



started roslaunch server http://192.168.0.25:39079/



SUMMARY

========



PARAMETERS

 * /rosdistro: kinetic

 * /rosversion: 1.12.14

 * /tb3_0/turtlebot3_core/baud: 115200

 * /tb3_0/turtlebot3_core/port: /dev/ttyACM0

 * /tb3_0/turtlebot3_core/tf_prefix: tb3_0

 * /tb3_0/turtlebot3_lds/frame_id: tb3_0/base_scan

 * /tb3_0/turtlebot3_lds/port: /dev/ttyUSB0



NODES

  /tb3_0/

    turtlebot3_core (rosserial_python/serial_node.py)

    turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)

    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)



ROS_MASTER_URI=http://192.168.0.184:11311



process[tb3_0/turtlebot3_core-1]: started with pid [1759]

process[tb3_0/turtlebot3_lds-2]: started with pid [1760]

process[tb3_0/turtlebot3_diagnostics-3]: started with pid [1761]

[INFO] [1575526868.439246]: ROS Serial Python Node

[INFO] [1575526868.512420]: Connecting to /dev/ttyACM0 at 115200 baud

[INFO] [1575526870.655526]: Note: publish buffer size is 1024 bytes

[INFO] [1575526870.658004]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]

[INFO] [1575526870.673665]: Setup publisher on firmware_version [turtlebot3_msgs/VersionInfo]

[INFO] [1575526870.753997]: Setup publisher on imu [sensor_msgs/Imu]

[INFO] [1575526870.776517]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]

[INFO] [1575526870.799170]: Setup publisher on odom [nav_msgs/Odometry]

[INFO] [1575526870.826280]: Setup publisher on joint_states [sensor_msgs/JointState]

[INFO] [1575526870.844346]: Setup publisher on battery_state [sensor_msgs/BatteryState]

[INFO] [1575526870.857858]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]

[INFO] [1575526873.165272]: Setup publisher on /tf [tf/tfMessage]

[INFO] [1575526873.200181]: Note: subscribe buffer size is 1024 bytes

[INFO] [1575526873.201801]: Setup subscriber on cmd_vel [geometry_msgs/Twist]

[INFO] [1575526873.227525]: Setup subscriber on sound [turtlebot3_msgs/Sound]

[INFO] [1575526873.257460]: Setup subscriber on motor_power [std_msgs/Bool]

[INFO] [1575526873.299892]: Setup subscriber on reset [std_msgs/Empty]

[INFO] [1575526873.772037]: Setup TF on Odometry [tb3_0/odom]

[INFO] [1575526873.778939]: Setup TF on IMU [tb3_0/imu_link]

[INFO] [1575526873.785893]: Setup TF on MagneticField [tb3_0/mag_link]

[INFO] [1575526873.791598]: Setup TF on JointState [tb3_0/base_link]

[INFO] [1575526873.805208]: --------------------------

[INFO] [1575526873.811731]: Connected to OpenCR board!

[INFO] [1575526873.818080]: This core(v1.2.3) is compatible with TB3 Burger

[INFO] [1575526873.824910]: --------------------------

[INFO] [1575526873.831345]: Start Calibration of Gyro

[INFO] [1575526876.331011]: Calibration End

参考资料
 

• ​https://github.com/ROBOTIS-GIT ... s/340