Unknown frame map

[DevAB-Git]

Hi,

I'm new to robotics. I'm trying to use this package with ROS Noetic (roslaunch lio_sam run.launch). However, my rviz shows that there is no transformation from base_link (chassis_link, imu_link, navast_link, and velodyne_link) to frame map. The base_link status is fixed frame does not exist and the Global Status is unknown frame map.

I think it is a very basic problem. I have read all the issues but could not find a similar problem faced by anyone else :(

Thanks in advanc

e

[aladin2022]

I am facing the same problem, any solution ?

[TixiaoShan]

Was the package built successfully?

There are a few changes that need to be done for Noetic.

#206 (comment)

[DevAB-Git]

Morning Tixiao Shan,
Thank you for your reply. Yes, the package was built successfully. I'm using the noetic version from
https://github.com/juliangaal/LIO-SAM

In this package, the CMakeLists.txt does not set CMAKE_CXX_FLAGS, I added set(CMAKE_CXX_FLAGS "-std=c++14") after set(CMAKE_CXX_STANDARD 14).
Moreover, I moved #include <opencv2/opencv.hpp> after the pcl headers. build the package and run roslaunch lio_sam run.launch. Same error :(

Note: I don't have a robot. I'm using ROS and Gazebo. I tried to run roscore first and then roslaunch lio_sam run.launch but have the same error.

A simple question: The line
_

param name="tf_prefix" value="$(env ROS_HOSTNAME)"

_
in the module_robot_state_publisher.launch is commented. Do I need to set some ROS_HOSTNAME and uncomment it?

Please let me know if any other information is required. Thanks in advance.

Here's the terminal log:

roslaunch lio_sam run.launch
... logging to /home/absiddique/.ros/log/cbaa93f8-b9c8-11ec-a5f0-e9669ff16237/roslaunch-SFTI-ROBOTICS-55761.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://10.140.69.135:45141/

SUMMARY

PARAMETERS

• /ekf_gps/base_link_frame: base_link
• /ekf_gps/frequency: 50
• /ekf_gps/imu0: imu_correct
• /ekf_gps/imu0_config: [False, False, Fa...
• /ekf_gps/imu0_differential: False
• /ekf_gps/imu0_queue_size: 50
• /ekf_gps/imu0_remove_gravitational_acceleration: True
• /ekf_gps/map_frame: map
• /ekf_gps/odom0: odometry/gps
• /ekf_gps/odom0_config: [True, True, True...
• /ekf_gps/odom0_differential: False
• /ekf_gps/odom0_queue_size: 10
• /ekf_gps/odom_frame: odom
• /ekf_gps/process_noise_covariance: [1.0, 0, 0, 0, 0,...
• /ekf_gps/publish_tf: False
• /ekf_gps/sensor_timeout: 0.01
• /ekf_gps/two_d_mode: False
• /ekf_gps/world_frame: odom
• /lio_sam/Horizon_SCAN: 1800
• /lio_sam/N_SCAN: 16
• /lio_sam/baselinkFrame: base_link
• /lio_sam/downsampleRate: 1
• /lio_sam/edgeFeatureMinValidNum: 10
• /lio_sam/edgeThreshold: 1.0
• /lio_sam/extrinsicRPY: [0, 1, 0, -1, 0, ...
• /lio_sam/extrinsicRot: [-1, 0, 0, 0, 1, ...
• /lio_sam/extrinsicTrans: [0.0, 0.0, 0.0]
• /lio_sam/globalMapVisualizationLeafSize: 1.0
• /lio_sam/globalMapVisualizationPoseDensity: 10.0
• /lio_sam/globalMapVisualizationSearchRadius: 1000.0
• /lio_sam/gpsCovThreshold: 2.0
• /lio_sam/gpsTopic: odometry/gpsz
• /lio_sam/historyKeyframeFitnessScore: 0.3
• /lio_sam/historyKeyframeSearchNum: 25
• /lio_sam/historyKeyframeSearchRadius: 15.0
• /lio_sam/historyKeyframeSearchTimeDiff: 30.0
• /lio_sam/imuAccBiasN: 6.435665935353257...
• /lio_sam/imuAccNoise: 0.003993957088823881
• /lio_sam/imuGravity: 9.80511
• /lio_sam/imuGyrBiasN: 3.564031869636761...
• /lio_sam/imuGyrNoise: 0.001563634394969...
• /lio_sam/imuRPYWeight: 0.01
• /lio_sam/imuTopic: imu_raw
• /lio_sam/lidarFrame: base_link
• /lio_sam/lidarMaxRange: 1000.0
• /lio_sam/lidarMinRange: 1.0
• /lio_sam/loopClosureEnableFlag: True
• /lio_sam/loopClosureFrequency: 1.0
• /lio_sam/mapFrame: map
• /lio_sam/mappingCornerLeafSize: 0.2
• /lio_sam/mappingProcessInterval: 0.15
• /lio_sam/mappingSurfLeafSize: 0.4
• /lio_sam/numberOfCores: 4
• /lio_sam/odomTopic: odometry/imu
• /lio_sam/odometryFrame: odom
• /lio_sam/odometrySurfLeafSize: 0.4
• /lio_sam/pointCloudTopic: points_raw
• /lio_sam/poseCovThreshold: 25.0
• /lio_sam/rotation_tollerance: 1000
• /lio_sam/savePCD: False
• /lio_sam/savePCDDirectory: /Downloads/LOAM/
• /lio_sam/sensor: velodyne
• /lio_sam/surfFeatureMinValidNum: 100
• /lio_sam/surfThreshold: 0.1
• /lio_sam/surroundingKeyframeDensity: 2.0
• /lio_sam/surroundingKeyframeSearchRadius: 50.0
• /lio_sam/surroundingKeyframeSize: 50
• /lio_sam/surroundingkeyframeAddingAngleThreshold: 0.2
• /lio_sam/surroundingkeyframeAddingDistThreshold: 1.0
• /lio_sam/useGpsElevation: False
• /lio_sam/useImuHeadingInitialization: True
• /lio_sam/z_tollerance: 1000
• /navsat/broadcast_utm_transform: False
• /navsat/broadcast_utm_transform_as_parent_frame: False
• /navsat/delay: 0.0
• /navsat/frequency: 50
• /navsat/magnetic_declination_radians: 0
• /navsat/publish_filtered_gps: False
• /navsat/wait_for_datum: False
• /navsat/yaw_offset: 0
• /navsat/zero_altitude: True
• /robot_description: <?xml version="1....
• /rosdistro: noetic
• /rosversion: 1.15.14

NODES
/
ekf_gps (robot_localization/ekf_localization_node)
lio_sam_featureExtraction (lio_sam/lio_sam_featureExtraction)
lio_sam_imageProjection (lio_sam/lio_sam_imageProjection)
lio_sam_imuPreintegration (lio_sam/lio_sam_imuPreintegration)
lio_sam_mapOptmization (lio_sam/lio_sam_mapOptmization)
lio_sam_rviz (rviz/rviz)
navsat (robot_localization/navsat_transform_node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [55771]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to cbaa93f8-b9c8-11ec-a5f0-e9669ff16237
process[rosout-1]: started with pid [55781]
started core service [/rosout]
process[lio_sam_imuPreintegration-2]: started with pid [55788]
process[lio_sam_imageProjection-3]: started with pid [55789]
process[lio_sam_featureExtraction-4]: started with pid [55790]
process[lio_sam_mapOptmization-5]: started with pid [55791]
process[robot_state_publisher-6]: started with pid [55802]
process[ekf_gps-7]: started with pid [55803]
process[navsat-8]: started with pid [55809]
process[lio_sam_rviz-9]: started with pid [55814]
[ INFO] [1649703261.071053493]: ----> Image Projection Started.
[ INFO] [1649703261.095089322]: ----> Feature Extraction Started.
[ INFO] [1649703261.112535252]: ----> IMU Preintegration Started.
[ INFO] [1649703261.120666596]: ----> Map Optimization Started.

[TixiaoShan]

I don't have experience running LIO-SAM with Gazebo. But some users have successfully done it before.

https://github.com/engcang/SLAM-application

[DevAB-Git]

Thanks Tixiao Shan for all the support and suggestions. I managed to run it :)
@aladin2022 first run a gazebo package that can launch your robot (urdf) and then run the lio_sam package. It is noted that you have to adjust the parameters according to your robot (urdf).

[LiuYiKai6]

Thanks Tixiao Shan for all the support and suggestions. I managed to run it :) @aladin2022 first run a gazebo package that can launch your robot (urdf) and then run the lio_sam package. It is noted that you have to adjust the parameters according to your robot (urdf).

hello, may I ask how you solved the problem?

[DeepDuke]

I met this problem in ros noetic. No frame called map. Could u tell me how do u fix it? Thank you!

[SEUZTh]

I met this problem in ros noetic. No frame called map. Could u tell me how do u fix it? Thank you!我在 ros noetic 中遇到了这个问题。没有称为地图的框架。你能告诉我你怎么解决它吗？谢谢！

Hi, have you solved the problem?

[mnoweo]

Modify Fixed Frame in Global Options and map to base_link.
Different datasets modify parameters in config/params.yaml.
For example, Rotation dataset's imu topic needs to be changed to imuTopic: "imu_correct", and "extrinsicRot" and "extrinsicRPY" need to be set to rotation matrix.