Move_basic tutorial / is my map ok?


#42

@rohbotics after the update im still having the same problem!

For me its like the update didnt make anything! And i did check the robot.yaml file on etc/ubiquiti/ and the code “position: ‘upward’” is there!


#43

i dont claim the update did anyting. I did observe that apt would report magni related packages while doing update/upgrade

here’s what i got

ubuntu@magni02:~$ apt list --installed | grep magni

WARNING: apt does not have a stable CLI interface. Use with caution in scripts.

ros-kinetic-magni-bringup/xenial,now 0.4.3-0xenial~tbpo1 armhf [installed]
ros-kinetic-magni-demos/xenial,now 0.4.3-0xenial~tbpo1 armhf [installed]
ros-kinetic-magni-description/xenial,now 0.4.3-0xenial~tbpo1 armhf [installed]
ros-kinetic-magni-nav/xenial,now 0.4.3-0xenial~tbpo1 armhf [installed]
ros-kinetic-magni-robot/xenial,now 0.4.3-0xenial~tbpo1 armhf [installed]
ros-kinetic-magni-teleop/xenial,now 0.4.3-0xenial~tbpo1 armhf [installed]
ros-kinetic-magni-viz/xenial,now 0.4.3-0xenial~tbpo1 armhf [installed]
ubuntu@magni02:~$

#44

Really? I didnt even notice that, i just saw the packages being downloaded and thought the update was been made! But for my surprise when i put the camera in the “upward” position still got the same weird reading on rviz!


#45

try sudo service magni-base stop ; sudo service magni-base start
I encountered a weird situation where the join between odom & map odom and base_link wasn’t there (can’t remember which one). doing that – even after rebooting – did help. go figure.

Now in my lab, the situation is MUCH better

I got one fiducials underground (only one). but overall they are all in a realistic volume. a significan number of them do not have the right height, but we’re making progress here.

I’ll strip all those that aren’t taped on the ceiling + remove a couple others so that not having such a density. we’ll see.


#46

Terrific I am glad you are making progress.

Couple of things that are important - when you go back to the lab particularly if you’ve changed a settings like the fiducial size, its probably a good idea to clear the fiducial map. With the navigation nodes running you need to type:

rosservice call /fiducial_slam/clear_map "{}"

When you visualize this in RVIZ it would help if you could also include the accuracy information this is normally small blue circles in the center of each fiducial and shows the standard deviation of the fiducial size. When these get very large then the fiducial position has become unreliable. They are there on the standard rviz visualization and I can’t see on your screenshots. I don’t know whether they are there and tiny or switched off.

In general having fiducial 49 lying around anywhere is a bad idea unless you absolutely positively don’t even want to try our fiducial follow. Fiducial 49 says - drive like crazy towards me regardless of what might be in the way. Magni is a pretty big robot and its movements should be deliberate. If I have a fiducial 49 lying around I keep it covered up.


#47

@alexis this made all the difference! I have the robot working now just for running that once!

I’m still having some problems with the “waypoint goal” it seems the robot sometimes stops at the right place but sometimes 1 meter difference! I’m still testing others things first! I’ll post future progress here as well!!


#48

Check to see how big the blue error circles are in your fiducial map. They should be small and tight around the fiducial.


#49

I believe they are small on my case! Check image pls!!


#50

i finally managed to print fiducials in what seems to be 140 x 140 mm

I did not paste them all on the ceiling. The mapping’s looking good. my blue dots in rviz now have about the same size as yours instead of those 10m diameter discs.

here’s the video => https://drive.google.com/open?id=1T1f_4v3YHEqvSaOAiQ63U7ZE2WWASjCH

check at 07:11

i’ll continue tomorrow


#51

That looks really nice. The fiducials that you have put up look very stable - remember that the robot continuously re-computes the position of every one it sees every time it captures and processes an image so that the position of the fiducial represents the best estimate based on all the data that the robot has ever captured. The fiducials you have look remarkably stable which implies that you have excellent lighting conditions for the fiducials leading to low re-projection error. There is no filtering on the estimated position of the robot so it is bouncing around a tiny little bit, but that is to be expected and certainly within range. Seems like you are getting nice results.


#52

i feel lost.

I taped/pasted about 25 fiducials i recently printed on HP DesignJet 1050C, those that seem to make a genuine 140x140mm. I placed them exclusively either on ceiling or a beam => all horizontal, nice and flat.
It is a much lower density (compared to initial ~80), yet the “net” created does seem dense enough (in most case, magni sees between 2 or 5 fiducials, i’d say). the cam is still mounted in “upwards” position. I tried to repeat the mapping procedure 5 times. using same physical origin. deleting and rebooting between each time.

  • after experience #3, I notice that an additional fiduacial should be located in a specific location (i judge by the look of the connection)
  • after experience #4, I remembered that I had forgotten to change /opt/ros/kinetic/share/magni_nav/launch/aruco.launch param fiducial_len from 0.142 back to its default 0.140 value.

To no avail. Even during experience #5 i continue to observe a behavior that results in map that does not look like what it is in real life.

The typical thing that happens is as follow

  • magni rolls around, fiducials are more or less correctly placed
  • then all of the sudden, as magni is rolling, there is some sort of “an explosion of uncertainty” (a couple big blue disc appear). from then, the location of fiducials in the map seem broken (markers, not tf).

video here => https://drive.google.com/open?id=1DSuWfYFK5doP7QnqlyGZzhbDFjx-cngl

It is particularly apparent on the video at 02:25~02:35 or at 06:16~06:30, or 7:55~7:8:05.

I tried to continue walking around but it seems it only makes matter worse.

Now a few points about my new fiducials printed with the HP DesignJet 1050C:

  • for starters, even thoug it’s the very same adhesive paper (from another box, but same reference), out of the 10 fiducials I taped on the ceiling yesterday, 4 of them had fallen at night and were on the floor when i was back this morning. I did not have this behavior while printing with the Lexmark (laser toner).
    => I also noticed that the black (printed) part of the fiducial is much more intense/vivid. I also notice that the black is clearly visible from the back (before you tape them).
  • i also notice that the black part is corrugated or kinda curvy. Maybe the ink instead of laser toner first no longer make them as flat as they should + may have created a chemical reaction that makes the glue no as sticky as with laser toner. This paper is designer for laser toner, not inkjet printer.
  • if i look closely, and since we are talking millimeters here, i notice that taped on the ceilng/beam, they may not be perfectly flat (i used another smartphone LED light to illustrate this on a picture bellow)

Between experiments, I had to use a broomstick on a couple of them to make sure they would stay flat. As i type here, I see that one of them (#214) is about to fall.

Bottom line is I have an appointment with a professional printer tomorrow at 3pm so find a solution to this “printing fiducial thing”.


#53

bellow are my 5 resultings maps in case that helps.

First map

ubuntu@magni02:~$ date
Wed Sep  5 14:19:03 CEST 2018
ubuntu@magni02:~$ cat /home/ubuntu/.ros/slam/map.txt
200 2.958660 -0.684019 2.826577 -172.368331 -1.624918 98.335190 0.001000 272 203 208 211 212 214
203 1.512920 -0.614280 2.905138 -175.875779 1.275055 88.216461 0.001000 4438 200 206 207 208 211 212 213 214
206 -1.572618 -0.638997 2.922401 174.479845 0.606205 87.203710 0.000000 10 203 207 208 212 213 215 216 217
207 -1.112625 -1.314118 2.436440 175.067093 -1.225778 88.009708 0.001000 242 203 206 208 213 215 216 217
208 0.712239 -1.418327 2.590200 -178.230203 -0.180321 88.836743 0.001000 190 200 203 206 207 214 215
210 3.450783 -2.899017 3.099926 -134.171612 -24.612102 75.914498 0.001000 148 214 220 221 222 223
211 2.947654 0.859680 2.821989 -171.898335 3.003616 87.561316 0.001000 94 200 203 212 214
212 1.468158 0.843828 2.838163 -177.232072 5.088880 88.423404 0.001000 4234 200 203 206 211 213 214
213 -1.466128 0.840301 2.866133 176.970371 3.499087 90.590325 0.001000 4012 203 206 207 212 215 216
214 3.029629 -1.743083 3.512037 -137.991343 -22.617312 79.829115 0.001000 216 200 203 208 210 211 212 222
215 -1.643711 -2.305387 2.858865 178.534110 -1.186033 90.387730 0.001000 426 206 207 208 213 216 217 218 221 229
216 -0.488140 -2.435848 2.937690 -177.739537 2.833386 -93.902301 0.001000 446 206 207 213 215 217 218 219 221 228 229
217 -1.250562 -3.764444 3.013110 179.263893 0.705231 88.126033 0.001000 426 206 207 215 216 218 219 221 227 228 229
218 -1.317036 -4.559662 2.407127 -175.693730 10.444594 -91.440231 0.001000 42 215 216 217 219 221 229
219 1.350351 -5.256983 3.745964 -157.910237 -9.673831 86.954267 0.001000 260 216 217 218 220 221 222 223 227 228 229
220 2.070597 -4.676803 2.448722 -136.001777 -25.688743 77.949811 0.001000 170 210 219 221 222 223 224 225 229
221 1.870832 -4.202378 3.775857 -151.078567 -9.495113 87.003623 0.336890 210 210 215 216 217 218 219 220 222 223 229
222 3.163301 -3.997363 2.637368 -134.980507 -25.139611 76.407301 0.001000 248 210 214 219 220 221 223 224
223 2.966848 -4.487417 1.694875 -132.324557 -23.385311 72.425354 0.001000 132 210 219 220 221 222 224 225
224 3.117939 -5.656745 1.572912 -134.824601 -25.898513 78.810058 0.001000 122 220 222 223 225 226
225 2.770332 -6.760959 1.041059 -133.258659 -29.518987 76.636759 0.001000 98 220 223 224 226
226 2.250574 -7.617405 3.339801 -157.278050 1.222091 91.670765 0.001000 194 224 225 227 228
227 -0.160717 -7.090846 2.996994 142.116826 31.931311 -103.631516 0.001000 228 217 219 226 228 229
228 0.469204 -6.321349 4.419026 160.056624 10.174534 -95.483404 0.001000 292 216 217 219 226 227 229
229 0.069525 -5.111869 3.718488 165.199364 8.827770 -90.754572 100.000000 318 215 216 217 218 219 220 221 227 228
ubuntu@magni02:~$




ubuntu@magni02:~$ echo "second map"
second map
ubuntu@magni02:~$ date
Wed Sep  5 14:32:23 CEST 2018
ubuntu@magni02:~$ cat /home/ubuntu/.ros/slam/map.txt
200 2.960543 -0.603981 2.722304 -160.225217 5.965893 101.676344 0.001000 330 203 208 210 211 212 214 222
203 1.550943 -0.591663 2.910403 -175.770084 0.575791 88.916102 0.001000 850 200 206 208 211 212 213 214
206 -1.539983 -0.650371 2.924246 174.742389 0.583477 87.829180 0.000000 9 203 207 208 212 213 215 216 217
207 -1.075792 -1.315977 2.434323 175.363651 -2.126982 88.905710 0.001000 388 206 213 215 216 217
208 0.740451 -1.412600 2.546374 -175.441304 -0.603179 89.463338 0.001000 74 200 203 206 214
210 3.118361 -2.517221 2.995815 -161.128712 7.437023 88.651763 0.001000 270 200 214 219 220 221 222 223 224
211 2.984080 0.921787 2.866243 -172.259846 2.645802 88.622224 0.001000 90 200 203 212 214
212 1.486578 0.867401 2.853795 -177.270145 3.992282 89.011389 0.001000 584 200 203 206 211 213 214
213 -1.446367 0.829325 2.882068 177.336227 3.193124 91.260147 0.001000 516 203 206 207 212 215 216
214 2.527012 -1.475199 2.439743 -161.442895 7.922607 90.112722 0.001000 284 200 203 208 210 211 212 222
215 -1.590143 -2.319061 2.861403 178.282501 -2.067640 90.954906 0.001000 386 206 207 213 216 217 218 228 229
216 -0.433112 -2.433090 2.878670 179.645212 6.174718 -93.434463 0.001000 414 206 207 213 215 217 218 219 228 229
217 -1.192440 -3.793579 2.956019 178.056083 -2.426872 87.803262 0.001000 232 206 207 215 216 218 219 221 227 228 229
218 -1.250546 -4.550216 2.358640 -177.063866 4.718726 -92.000618 0.001000 88 215 216 217 219 221 228 229
219 0.718289 -4.591910 2.404355 -176.632551 -7.068702 89.452021 0.001000 138 210 216 217 218 220 221 222 228 229
220 2.147007 -4.630666 3.093007 -162.233687 5.110792 90.094402 0.001000 128 210 219 221 222 223 224 225 229
221 1.780538 -3.477284 4.172200 -147.957507 16.475283 95.884386 0.001000 174 210 217 218 219 220 222 229
222 3.044903 -3.735008 3.169810 -161.521546 6.297085 89.169218 0.001000 268 200 210 214 219 220 221 223 224
223 3.284986 -4.642819 2.730718 -161.777483 3.613715 83.843598 0.001000 98 210 220 222 224 225
224 3.461805 -5.659869 3.337136 -159.792390 3.931191 90.611940 0.001000 664 210 220 222 223 225 226
225 3.360478 -6.923386 3.418770 -159.761706 1.280821 91.073692 0.001000 670 220 223 224 226
226 1.838852 -6.904134 4.227356 -164.591241 1.085166 91.197652 100.000000 724 224 225 227 228
227 -0.358420 -6.866947 2.642789 -179.241652 5.827004 -88.215090 0.001000 142 217 226 228 229
228 -0.350516 -5.621810 2.829017 179.612894 6.452226 -92.743688 0.001000 152 215 216 217 218 219 226 227 229
229 -0.435648 -4.591851 2.407981 -179.505844 4.232863 -88.784081 0.001000 190 215 216 217 218 219 220 221 227 228
ubuntu@magni02:~$



ubuntu@magni02:~$ echo "3rd map"
3rd map
ubuntu@magni02:~$ date
Wed Sep  5 14:51:57 CEST 2018
ubuntu@magni02:~$ cat /home/ubuntu/.ros/slam/map.txt
200 -3.095733 0.942748 2.890082 -163.399337 -10.401355 -84.191722 0.001000 210 203 208 211 212 214
203 -1.496454 0.765483 2.818627 -175.365452 -0.231935 -91.969463 0.001000 1422 200 206 207 208 211 212 213 214
206 1.585452 0.777538 2.777642 174.669116 0.692296 -93.087483 0.000000 10 203 207 208 212 213 215 216 217
207 1.133811 1.457900 2.286553 175.705214 -0.716566 -92.431200 0.001000 198 203 206 208 213 215 216 217
208 -0.735671 1.569539 2.539105 179.735585 -0.683490 -91.802181 0.001000 106 200 203 206 207 214
210 -2.917020 2.701729 2.783819 -167.270743 -0.230460 -92.373221 0.001000 102 220 221 222 223 224
211 -3.142656 -0.619411 3.011702 -159.181596 -3.430159 -93.701833 0.001000 152 200 203 212 214
212 -1.456646 -0.691258 2.769800 -177.793596 4.418468 -91.825658 0.001000 1278 200 203 206 211 213 214
213 1.471359 -0.697746 2.734507 177.234992 2.278142 -89.574526 0.001000 1082 203 206 207 212 215 216
214 -2.560988 1.659269 2.333162 -156.998269 -7.759180 -95.695692 0.001000 108 200 203 208 211 212
215 1.666316 2.441106 2.774677 176.364304 0.945042 -90.196036 0.001000 288 206 207 213 216 217 218 229
216 0.516292 2.585496 2.841546 -175.967077 1.990105 85.713152 0.001000 238 206 207 213 215 217 218 219 221 228 229
217 1.328658 3.892056 2.671433 178.357153 -4.691421 -93.690134 2.183325 388 206 207 215 216 218 219 221 227 228 229
218 1.354356 4.757088 2.813252 -169.047151 16.780502 87.601740 0.001000 126 215 216 217 219 221 228 229
219 -0.599530 4.881354 3.055354 172.312057 -17.127378 -90.611489 0.001000 476 216 217 218 220 221 222 223 227 228 229
220 -1.943614 4.941858 3.190778 176.301275 -13.424934 -91.753747 0.001000 316 210 219 221 222 223 224 228 229
221 -1.138369 4.162377 3.919811 173.107986 -16.857936 -91.028376 0.001000 574 210 216 217 218 219 220 222 223 224 228 229
222 -2.742233 4.204415 3.928004 176.484237 -12.503665 -93.347275 0.001000 370 210 219 220 221 223 224
223 -3.118281 4.975211 3.301117 179.146222 -11.778243 -97.463772 0.001000 268 210 219 220 221 222 224 225
224 -2.172606 6.922764 5.148906 129.839020 -32.650310 -81.647215 0.001000 184 210 220 221 222 223 225 226
225 -2.318079 7.901034 4.367284 122.694659 -34.769725 -75.482672 0.001000 146 223 224 226
226 -1.320704 7.548425 3.166731 127.703561 -35.999962 -77.881784 0.001000 180 224 225 227 228
227 0.540395 7.095397 2.670688 -169.766976 18.917652 92.040884 0.001000 130 217 219 226 228 229
228 0.541093 5.927763 3.137824 -171.933223 18.042690 87.481537 0.001000 302 216 217 218 219 220 221 226 227 229
229 0.545146 4.829081 2.886006 -171.384688 16.597195 91.263855 0.001000 402 215 216 217 218 219 220 221 227 228
ubuntu@magni02:~$



ubuntu@magni02:~$ echo "4th map"
4th map
ubuntu@magni02:~$ date
Wed Sep  5 15:21:49 CEST 2018
ubuntu@magni02:~$ cat /home/ubuntu/.ros/slam/map.txt
200 -2.714834 0.294225 4.204737 167.815891 23.051975 -80.059539 0.001000 1410 203 208 210 211 212 214 222
203 -1.364016 0.436532 3.795042 157.255442 23.139363 -91.713503 0.001000 1350 200 206 207 208 210 211 212 213 214
206 1.577891 0.839636 2.782930 174.414209 0.172452 -91.194725 0.000000 9 203 207 208 212 213 215 216 217
207 1.084783 1.518036 2.281097 175.192973 -3.722136 -90.246410 0.001000 282 203 206 208 213 215 216 217
208 -0.809626 1.448592 3.397665 159.021117 22.775557 -91.183107 0.001000 258 200 203 206 207 214 216
210 -2.827044 2.120174 4.815011 165.597077 18.019595 -92.617862 0.001000 2734 200 203 211 214 219 220 221 222 223 224 230
211 -2.715719 -1.122836 3.625773 164.120458 21.530387 -92.021549 0.001000 638 200 203 210 212 214
212 -1.332356 -0.890937 3.194873 162.678616 21.719006 -90.961859 0.001000 842 200 203 206 211 213 214
213 1.507184 -0.646628 2.777130 174.161227 0.866699 -87.643481 0.001000 340 203 206 207 212 215 216
214 -2.567211 1.261269 3.946230 160.559402 25.028919 -93.591014 0.001000 2306 200 203 208 210 211 212 222
215 1.601831 2.509881 2.757557 174.283442 -1.828885 -88.139623 0.001000 512 206 207 213 216 217 218 221 229 230
216 0.453859 2.582795 2.919679 -172.378902 -4.317421 86.898423 100.000000 584 206 207 208 213 215 217 218 219 221 228 229 230
217 1.190329 3.941967 2.918555 177.531967 -1.648136 -91.448998 0.001000 566 206 207 215 216 218 219 221 228 229 230
218 1.248257 4.721818 2.353634 -177.763910 4.264939 88.593088 0.001000 366 215 216 217 219 221 228 229
219 -0.776553 4.484313 4.270396 164.798394 12.574765 -88.438588 0.001000 818 210 216 217 218 220 221 222 223 227 228 229 230
220 -2.089702 4.380301 4.652098 167.349030 15.358018 -89.700808 0.001000 464 210 219 221 222 223 224 228 229 230
221 -1.211028 3.399404 4.673565 166.299506 14.169205 -88.540959 0.001000 1164 210 215 216 217 218 219 220 222 223 228 229 230
222 -2.748047 3.310179 5.111485 168.947028 16.628944 -91.537880 0.001000 2280 200 210 214 219 220 221 223 224 225 230
223 -3.248422 4.709241 2.378596 -175.856220 -6.064027 -96.256747 0.001000 106 210 219 220 221 222 224 225
224 -3.276574 5.795372 2.793375 -174.869396 -1.722789 -90.088263 0.001000 88 210 220 222 223 225 226
225 -3.168815 7.057148 2.767662 -176.372342 -6.749856 -89.021010 0.001000 150 222 223 224 226
226 -1.577731 7.300013 2.778023 -178.281708 -2.729533 -91.033686 0.001000 254 224 225 227 228
227 0.329753 7.005279 2.806517 -177.512758 3.386085 92.554985 0.001000 172 219 226 228 229
228 0.333039 5.748989 2.924342 179.929843 4.383074 87.876873 0.001000 356 216 217 218 219 220 221 226 227 229
229 0.322179 4.617322 4.036725 -162.191970 -15.207435 93.153855 0.001000 612 215 216 217 218 219 220 221 227 228 230
230 -1.291533 2.696521 3.019086 -177.746043 -1.714115 -90.390429 0.001000 338 210 215 216 217 219 220 221 222 229
ubuntu@magni02:~$




ubuntu@magni02:~$ echo "4th map"
4th map
ubuntu@magni02:~$ date
Wed Sep  5 15:21:49 CEST 2018
ubuntu@magni02:~$ cat /home/ubuntu/.ros/slam/map.txt
200 -2.714834 0.294225 4.204737 167.815891 23.051975 -80.059539 0.001000 1410 203 208 210 211 212 214 222
203 -1.364016 0.436532 3.795042 157.255442 23.139363 -91.713503 0.001000 1350 200 206 207 208 210 211 212 213 214
206 1.577891 0.839636 2.782930 174.414209 0.172452 -91.194725 0.000000 9 203 207 208 212 213 215 216 217
207 1.084783 1.518036 2.281097 175.192973 -3.722136 -90.246410 0.001000 282 203 206 208 213 215 216 217
208 -0.809626 1.448592 3.397665 159.021117 22.775557 -91.183107 0.001000 258 200 203 206 207 214 216
210 -2.827044 2.120174 4.815011 165.597077 18.019595 -92.617862 0.001000 2734 200 203 211 214 219 220 221 222 223 224 230
211 -2.715719 -1.122836 3.625773 164.120458 21.530387 -92.021549 0.001000 638 200 203 210 212 214
212 -1.332356 -0.890937 3.194873 162.678616 21.719006 -90.961859 0.001000 842 200 203 206 211 213 214
213 1.507184 -0.646628 2.777130 174.161227 0.866699 -87.643481 0.001000 340 203 206 207 212 215 216
214 -2.567211 1.261269 3.946230 160.559402 25.028919 -93.591014 0.001000 2306 200 203 208 210 211 212 222
215 1.601831 2.509881 2.757557 174.283442 -1.828885 -88.139623 0.001000 512 206 207 213 216 217 218 221 229 230
216 0.453859 2.582795 2.919679 -172.378902 -4.317421 86.898423 100.000000 584 206 207 208 213 215 217 218 219 221 228 229 230
217 1.190329 3.941967 2.918555 177.531967 -1.648136 -91.448998 0.001000 566 206 207 215 216 218 219 221 228 229 230
218 1.248257 4.721818 2.353634 -177.763910 4.264939 88.593088 0.001000 366 215 216 217 219 221 228 229
219 -0.776553 4.484313 4.270396 164.798394 12.574765 -88.438588 0.001000 818 210 216 217 218 220 221 222 223 227 228 229 230
220 -2.089702 4.380301 4.652098 167.349030 15.358018 -89.700808 0.001000 464 210 219 221 222 223 224 228 229 230
221 -1.211028 3.399404 4.673565 166.299506 14.169205 -88.540959 0.001000 1164 210 215 216 217 218 219 220 222 223 228 229 230
222 -2.748047 3.310179 5.111485 168.947028 16.628944 -91.537880 0.001000 2280 200 210 214 219 220 221 223 224 225 230
223 -3.248422 4.709241 2.378596 -175.856220 -6.064027 -96.256747 0.001000 106 210 219 220 221 222 224 225
224 -3.276574 5.795372 2.793375 -174.869396 -1.722789 -90.088263 0.001000 88 210 220 222 223 225 226
225 -3.168815 7.057148 2.767662 -176.372342 -6.749856 -89.021010 0.001000 150 222 223 224 226
226 -1.577731 7.300013 2.778023 -178.281708 -2.729533 -91.033686 0.001000 254 224 225 227 228
227 0.329753 7.005279 2.806517 -177.512758 3.386085 92.554985 0.001000 172 219 226 228 229
228 0.333039 5.748989 2.924342 179.929843 4.383074 87.876873 0.001000 356 216 217 218 219 220 221 226 227 229
229 0.322179 4.617322 4.036725 -162.191970 -15.207435 93.153855 0.001000 612 215 216 217 218 219 220 221 227 228 230
230 -1.291533 2.696521 3.019086 -177.746043 -1.714115 -90.390429 0.001000 338 210 215 216 217 219 220 221 222 229
ubuntu@magni02:~$ cat .

///// shit i just realized I forgot to put fiducial_len back to 0.140...

ubuntu@magni02:~$ cat /opt/ros/kinetic/share/magni_nav/launch/aruco.launch | grep '_len'
    <!-- fiducial_len -->
    <arg name="fiducial_len" value="0.142" />

    
    

ubuntu@magni02:~$ echo "5th map... with 0.140 param :/"
5th map... with 0.140 param :/
ubuntu@magni02:~$ cat /home/ubuntu/.ros/slam/map.txt
200 3.093455 -0.439164 4.340703 -178.351929 1.938812 100.550538 0.001000 340 203 208 210 211 212 214
203 1.473819 -0.552224 2.851389 -175.470826 1.290017 90.100597 0.001000 6062 200 206 207 208 210 211 212 213 214
206 -1.557474 -0.689001 2.885219 173.511793 -0.035180 89.102091 0.000000 10 203 207 208 212 213 215 216 217
207 -1.078270 -1.336907 2.421626 174.315551 -1.893082 89.825194 0.001000 350 203 206 208 213 215 216 217
208 0.750658 -1.347227 2.544503 177.072329 -0.096223 91.029408 0.003653 140 200 203 206 207 214
210 3.192928 -2.407396 3.291706 -149.512005 9.257783 88.019974 0.001000 526 200 203 214 220 221 222 223 224 230
211 2.949927 0.967397 2.748445 -150.128448 13.657459 91.935037 0.001000 124 200 203 212 214
212 1.374234 0.877731 2.780433 -176.881999 4.267561 90.201289 0.001000 5814 200 203 206 211 213 214
213 -1.506219 0.766439 2.832529 177.207630 4.242093 92.576858 0.001000 5802 203 206 207 212
214 2.773980 -1.265245 3.835090 -178.082253 1.502190 88.638062 0.001000 300 200 203 208 210 211 212 222
215 -1.582694 -2.329122 2.914032 178.285669 -1.517638 91.823054 0.001000 586 206 207 216 217 218 219 229
216 -0.438115 -2.423520 2.942378 -177.746660 3.203033 -92.123303 0.001000 746 206 207 215 217 218 219 221 228 229 230
217 -1.191410 -3.712633 2.749822 -176.750143 -10.507523 88.382291 0.001000 932 206 207 215 216 218 219 221 227 228 229 230
218 -1.195986 -4.521962 2.350690 -176.291044 3.796647 -90.797170 0.001000 306 215 216 217 219 221 228 229 230
219 -0.222688 -3.194882 0.122937 -132.542800 -44.303611 72.521329 0.229383 658 215 216 217 218 220 221 222 223 227 228 229
220 2.203110 -4.429722 3.711032 -155.625486 9.175289 90.463533 0.001000 322 210 219 221 222 223 224 225 228 229
221 1.314514 -3.608053 3.142131 -170.928445 9.001816 92.119923 100.000000 848 210 216 217 218 219 220 222 223 224 228 229
222 3.166849 -3.589437 3.657150 -150.270100 4.417688 86.459132 0.001000 694 210 214 219 220 221 223 224 230
223 3.220832 -4.490889 3.135827 -148.922222 4.358303 81.696225 0.001000 360 210 219 220 221 222 224 225 230
224 3.457718 -5.516944 3.650681 -147.509312 3.944058 88.481715 0.001000 298 210 220 221 222 223 225 226
225 3.298635 -6.757183 3.721118 -148.400960 0.740370 88.262440 0.001000 166 220 223 224 226
226 1.970919 -6.900247 4.555365 -146.167607 2.018149 86.596353 0.001000 376 224 225 227 228
227 0.377560 -6.508024 5.534246 148.008957 0.992613 -91.029879 0.001000 560 217 219 226 228 229
228 0.459382 -5.268951 5.559219 149.145270 -3.625025 -93.351679 0.001000 796 216 217 218 219 220 221 226 227 229 230
229 -0.521965 -4.389166 2.022844 174.341444 12.065098 -88.251930 2.823045 962 215 216 217 218 219 220 221 227 228 230
230 1.256684 -2.507337 3.020335 -179.687860 -0.518306 90.231749 0.001000 410 210 216 217 218 219 221 222 223 228 229
ubuntu@magni02:~$ date
Wed Sep  5 16:51:45 CEST 2018
ubuntu@magni02:~$

#54

OK I see it. cue internal team problem solving.


#55

OK so the proposed fix for these issues are now available. Type:

sudo apt update; sudo apt upgrade

to get it.

We’ve introduced a systematic error parameter that should account for non-random errors and stabilize large maps.


#56

Do i need to run the “sudo apt-get update” and “sudo apt-get upgrade” on both the robot and workstation or only on the robot?
Can you point me the exact path to reach the file on the robot when i can tune that parameter?

thanks


#57

On the robot if you are running to localization on the robot. Obviously if you run localization by sharing topics with your workstation you’ll need to run it there too.

In any case this is a command you need just to keep your software up to date.


#58

i did the sudo apt update / upgrade

conclusion: it’s getting better, but we’re not quite there yet.

some versions

ubuntu@magni02:~$ apt list --installed | egrep -i 'magni|fiducial'
ros-kinetic-fiducial-msgs/xenial,now 0.9.0-0xenial~tbpo1 armhf [installed,automatic]
ros-kinetic-fiducial-slam/xenial,now 0.9.0-0xenial~tbpo1 armhf [installed,automatic]
ros-kinetic-magni-bringup/xenial,now 0.4.3-0xenial~tbpo1 armhf [installed]
ros-kinetic-magni-demos/xenial,now 0.4.3-0xenial~tbpo1 armhf [installed]
ros-kinetic-magni-description/xenial,now 0.4.3-0xenial~tbpo1 armhf [installed]
ros-kinetic-magni-nav/xenial,now 0.4.3-0xenial~tbpo1 armhf [installed]
ros-kinetic-magni-robot/xenial,now 0.4.3-0xenial~tbpo1 armhf [installed]
ros-kinetic-magni-teleop/xenial,now 0.4.3-0xenial~tbpo1 armhf [installed]
ros-kinetic-magni-viz/xenial,now 0.4.3-0xenial~tbpo1 armhf [installed]
ubuntu@magni02:~$

I also removed all my previous fiducials (printed on a HP DesignJet inhouse) and pasted instead 23 fiducials I got from a pro printed. see some pics&stats

Then i made two experiments.
again my list of action each time

close rviz on the PC.
Position the magni at a known location on the floor, inside a red tape square. Reboot magni.
rm /home/ubuntu/.ros/slam/map.txt; rosclean purge # delete previous map and purge logs
sudo service magni-base stop ; sudo service magni-base start # restart magni services
#cd /tmp; rosbag record /fiducial_transforms /fiducial_vertices /tf /fiducial_pose /fiducial_map # record in a 3rd ssh window
roslaunch magni_demos simple_navigation.launch # Start the nav demo in 1st ssh window
rosrun teleop_twist_keyboard teleop_twist_keyboard.py # teleop the magni in a 2nd ssh window
roslaunch magni_viz view_nav.launch # on PC
Use keyboard teleop to move the magni and see what happens in rviz

Now I do see progress because the fiducials now look closer ot their real location. And I didn’t not spot an “explosion” of change in a few locations.

However, the resulting “map” in rviz continues to feel visually broken.
Below the two maps that resulted.

Looking at the saveMap code here :

    fprintf(fp, "%d %lf %lf %lf %lf %lf %lf %lf %d", f.id,
             trans.x(), trans.y(), trans.z(),
             rad2deg(rx), rad2deg(ry), rad2deg(rz), 
             f.pose.variance, f.numObs);

    for (lit = f.links.begin(); lit != f.links.end(); lit++) {
        fprintf(fp, " %d", lit->first);
    }

I took for granted that the file format has each line with [id] [x] [y] [z]

first map

ubuntu@magni02:~$ cat /home/ubuntu/.ros/slam/map.txt
250 2.806691 -0.448186 2.591661 156.717780 6.981078 -86.584435 0.010685 624 251 252 253 254 257 258 259 260
251 1.528491 -0.591821 2.896331 -177.884813 1.068816 87.470186 0.010099 5172 250 252 253 254 255 256 257 258 259
252 2.933408 1.082254 2.702313 -166.329253 -0.594734 90.105401 0.010217 180 250 251 253 258
253 1.277335 0.756644 2.812293 179.902993 3.164919 91.786411 0.010128 4866 250 251 252 254 255 256 257 258
254 -0.611882 0.765778 2.816619 -178.151417 3.345925 93.466736 0.010051 4636 250 251 253 255 256 257 264
255 -1.090280 -0.617414 2.886510 -179.667517 2.212871 91.851169 0.000000 10 251 253 254 256 257 263 264
256 -0.621367 -1.354445 2.395628 179.289805 -0.578818 -90.423768 0.010088 440 251 253 254 255 257 263 264
257 1.268238 -1.376284 2.300716 176.051800 -2.794056 -90.733017 0.010118 314 250 251 253 254 255 256 258
258 2.425111 -1.210940 2.103082 156.132970 5.720234 -91.714014 0.010131 308 250 251 252 253 257 259 260
259 2.936437 -2.351680 2.324094 -153.506606 -3.182855 84.990763 0.010181 374 250 251 258 260 261 262 266 267
260 2.909497 -3.446393 2.242053 -153.620563 -3.111956 82.304509 0.010114 384 250 258 259 261 262 266 267 268
261 1.520000 -3.552778 3.050272 -160.382814 -3.031139 95.458650 0.010240 590 259 260 262 263 264 265 266
262 1.395580 -2.325248 2.845668 168.315775 -5.531299 -81.236240 0.011023 340 259 260 261 265 266
263 -0.661785 -3.815408 3.537538 -169.946419 -2.045839 89.950992 0.010195 336 255 256 261 264 265 266 271 272
264 -1.128659 -2.337831 2.881487 -173.757797 -0.472449 93.353879 0.010025 452 254 255 256 261 263 265 271
265 -0.187665 -4.496840 2.890294 -168.730420 -3.047075 88.840561 0.010837 338 261 262 263 264 266 271 272
266 1.373889 -4.441520 2.394800 -154.910809 0.094010 91.067738 0.010106 362 259 260 261 262 263 265
267 2.686211 -4.384454 1.729963 -152.891333 -8.100853 86.578019 0.010405 164 259 260 268 269
268 2.913629 -5.560355 2.097562 -154.716179 -8.287820 83.100678 0.010120 230 260 267 269 270
269 2.739718 -6.749753 1.863018 -154.289394 -11.507630 85.488043 0.010560 240 267 268 270
270 1.126650 -6.941312 2.592814 -163.905929 -6.167386 89.003039 0.010172 102 268 269 271 272
271 -0.265934 -5.374650 3.239134 -165.216032 -6.088578 90.836956 0.010247 180 263 264 265 270 272
272 -0.401795 -6.560190 3.102101 -164.735112 -6.490981 87.220966 0.010110 86 263 265 270 271
ubuntu@magni02:~$


second map


ubuntu@magni02:~$ cat /home/ubuntu/.ros/slam/map.txt
250 2.682424 -0.740578 3.003004 166.346999 10.141262 -91.050037 0.010859 606 251 252 253 257 258 259 260
251 1.429081 -0.684618 2.879400 -177.048645 1.585373 83.055768 0.000000 9 250 252 253 254 255 256 257 258 259
252 2.968393 0.852395 2.868674 -176.397983 1.416813 85.639224 0.010116 308 250 251 253 258
253 1.301584 0.694617 2.834087 179.664051 1.702899 86.845320 0.010172 2304 250 251 252 254 255 257 258
254 -0.609293 0.844601 2.803814 -177.788565 3.446993 88.827146 0.010061 1816 251 253 255 256
255 -1.201943 -0.503169 2.892874 -179.249398 2.195305 87.283882 0.010064 1972 251 253 254 256 257 264
256 -0.842773 -1.368914 3.089720 -174.384348 15.384376 -93.656350 0.010189 262 251 254 255 257 263 264
257 1.093245 -1.471340 2.348016 173.763733 0.589383 -95.696257 0.010922 244 250 251 253 255 256
258 2.314122 -1.441178 2.394320 165.660401 7.078639 -96.204628 0.010106 306 250 251 252 253 259 260
259 2.737344 -2.704858 3.231216 -165.800115 -2.313774 82.413417 0.010855 282 250 251 258 260 261 262 267
260 2.625297 -3.758025 2.946729 -171.862448 -9.233961 78.696791 0.010160 386 250 258 259 261 262 266 267 268
261 0.954358 -3.922314 3.474567 173.701073 -18.600091 91.305372 0.010183 448 259 260 262 263 265 266 267 271
262 1.084025 -2.592023 3.355928 177.934687 8.955107 -90.138812 0.010151 334 259 260 261 263 265 266
263 -1.257123 -3.887958 2.989690 173.345473 -20.600425 86.377996 0.010140 412 256 261 262 264 265 266 271 272
264 -1.474349 -2.426475 3.328022 170.907376 -16.004883 90.544678 0.010211 306 255 256 263 265 271
265 -0.660112 -4.464885 2.437590 173.177967 -19.770676 84.881764 0.010381 302 261 262 263 264 266 270 271 272
266 0.945265 -4.627206 2.669733 176.131302 -20.373999 84.492328 0.010108 74 260 261 262 263 265 267
267 2.496476 -4.659325 2.243423 -170.516502 -13.663840 83.677508 0.010633 70 259 260 261 266 268 269
268 2.391541 -5.807954 2.276911 -154.305728 7.598733 86.045556 0.010981 112 260 267 269 270
269 2.187266 -6.951072 1.974401 -173.697082 -20.452145 81.207139 0.010143 126 267 268 270
270 0.431431 -6.942157 2.258475 -173.699851 -27.154999 83.760657 0.010783 892 265 268 269 271 272
271 -0.900565 -5.385955 2.732064 173.636616 -24.411709 88.227690 0.010395 900 261 263 264 265 270 272
272 -1.121269 -6.460054 2.347167 179.061115 -22.850890 83.342456 0.010114 882 263 265 270 271
ubuntu@magni02:~$

doing a bit of toying with the data we can clearly see that the fiducials located near the origin are kinda ok-ish. but the further away from the origin, the more distorded the map becomes.

For instance, I do not expect that running the slam twice following a similar protocol results in fiducials being located at ~1m (data suggests error is more severe on X than on Y…?!?)

Also, I can say for XY values (measuring “true distances” would be tricky). But i perfectly know for Z. Either fiducials are located on a beam (2.28m from ground) or on the ceiling (2.87m from the ground)
=> here i also observe a significant distortion between “Z truth” and the two maps.

My expectation would be that two maps more or less overlaps and each fiducials would be in a an imprecision sphere or a few centimers. Here i observe imprecision in the 50cm~1m range

I understand the new systematic error parameter is a guess at this point. I hope the two attached bag files (one recording per map) will help resolve the situation.

One comment/question: the location where i made those experiences is not my pilot location. Here it is maybe more crawded with furnitures, chairs, obstacles. and above all: it’s much smaller.
=> does it continue to make sense to do those experiment there or should I directly use my pilot location? (it would likely require much more fiducials and I would rather not spend days in glueing those hundreds of fiducials only to face same problems… please advise.


#59

the two bag files

first experiment => https://drive.google.com/open?id=1kPEgqg-ZeP3-dqqh3mVW2lr-3VeuWw0q
second experiment => https://drive.google.com/open?id=1lBy9CDNVySHJ6fUbVOTCiKRV6HAb1rjM

a video recording of rviz around the end of the second experiment => https://drive.google.com/open?id=1roXTGizSI_Io8l_kMxQn10ss9f-SqhK_


#60

Gentlemen I think you are going to need to calibrate your cameras. What we see is that as you drive under the fiducials the fiducial positions shift up and down suggesting different levels of spherical aberration on the lens than are in the “default” calibration. We also see the orientation of the fiducials shift while you move again suggesting spherical aberration that is different to the default.

Interestingly you both seem to be suffering in the same direction (although to different degrees) so it may be interbatch variation - as the cameras that were on your robots were produced several months after the one that we used for our default calibration.

We’ve done a calibration from a camera from a production batch of the robot that you are on and that is being incorporated in to our standard package by tomorrow night. So you’ll be able to get that then by typing

sudo apt update; sudo apt upgrade

This may improve things for you - but again - we’d strongly suggest that you do your own calibration otherwise you will get sub-optimal results.

How to do calibration is here, if you have a good checkerboard it only takes a few minutes:

A couple of other notes for you. It seems that you both are generating a map and then you plan on using it as is. Ideally you want to get a rich sampling of the fiducial positions to build the best possible map. In general driving the robot around on the floor creates a somewhat sub-optimal sampling, so rather than just driving a robot - you can use a raspberry pi with the camera and move the camera in 3-d that will tend to generate a better map. Particularly if height is a concern.


How to calibrate raspicam v2.1
#61

@davecrawley maybe im doing something wrong because i did the update and try to tune the camera and still the results are exactly the same!

But i think i may have find a solution to my problem, but need to do more tests tough!

When i send the command to the robot go from “Point-A” to the “Point-B” being 30/40 meters away, i try to just re-sending (from 5 to 5 seconds) the command during the “trip” from A to B and the robot will re-adjusting the route! This seems an strange solution but in my case its doing what i need so far!

Its like this:

Robot go to B -> Robot starts moving
and during the trip i send more commands:
go to B, go to B, go to B, go to B, so far so on till it reaches the “B”!

I´ve reduced the speed on the “rosrun rqt_reconfigure rqt_reconfigue” in order to the robot have minor abruption to the motors during the commands!

@davecrawley tell me if this can broke the motors or something please!

Thanks