Easy SLAM with ROS using slam_toolbox

[@ZoGi5555]

Did not watch this video in particular but all your videos are structured always fine. Highly appreciated that you provide this content for us. There is no other content creator that explains the usage of ROS2 better than your channel. Keep up the good work! we need this.

[@davidsalazar7062]

I would like that this guy get reach views

[@jombrs.2511]

For those having problems loading map. The "params_file" parameter has been changed to "slam_params_file". Hope this help :) Edit: I'm using ros2 humble

[@ArticulatedRobotics]

Good pickup - yes it is changed in humble, annoyingly I missed this when I did my "differences for humble" video and it has cropped up a few times since. Perhaps I will update the description of this video :)

[@jombrs.2511]

@@ArticulatedRobotics Glad to help. Thanks for really informative videos btw.

[@harikrishnanm9380]

i did that and still my saved map is not loading

[@benjatapia5746]

Thanks for the comment!!

[@oorischubert4085]

been banging my head against the wall trying to figure this out, thanks for the comment!

[@alfonsopanadero]

Hello Josh, At the beginning of July I found your videos, a little late right jejeje. The truth is that you explain it very well and detailed. I've been learning something about ROS1 for a long time. Today I know more with your perfect videos and explanations. Today I have everything working until this video. For which I am very grateful for your effort. Thank you. Note: If someone wants to use more powerful motors, they can use the BTS7960 motor controller that can be directly replaced by the L298.

[@ArticulatedRobotics]

Thanks for your nice feedback! And yes one day I would like to cover the BTS7960. I have used them in the past and found them to be much better though more expensive.

[@alexanderyang126]

Thank you for sharing this video. I just begin learning SLAM and your video is friendly to new user. Thank you! :)

[@wavecast_podcasts]

Can’t wait for next video..!! Love to see a video of sensor fusion.

[@benoitlagassedelocht1595]

Finally an updated tutorial series about ROS 2 that is simple, yet very detailed! This will be very helpfull for my next project. keep up the amazing work🦾

[@carldraper616]

Another great video, had to watch it a few times to digest and implement but wonderful content. I also would love to see how you might go about IMU implementation for fused ODOM data. I have totally rewritten by ROS stack based on the Articubot code you provided us. Super well structured and things run so much better so far!

[@ArticulatedRobotics]

Thanks Carl, and having seen your robot I'm very impressed! Re IMU I am also keen to explore that, I've not done it in ROS before but it is a very handy thing to be able to add to a robot.

[@usimian]

Great video! I've built pretty much the same thing but with a Jetson Nano. I used the same lidar and differential wheel odometry plus an IMU thru the robot_localization package. What I'd like to learn is how to integrate a pointcloud device (I have a sparkfun VL53L5CX) or use two cameras to do visual slam. I agree, slam_toolbox is quite nice. Thanks!

[@MartinBgelund]

Thanks for a great video! I'd like to see more on SLAM, especially using IMU's and maybe even distance sensors (ultrasound and time-of-flight).

[@rcarrasquel.u]

I need help please. I just realized that when I want my robot to go forward in rviz2 it goes backwards but in gazebo and my real robot if it goes in the right direction. What I can do?

[@volrin7621]

Hello. I have a problem when adding the Map in Rviz. I get an error with the message "No map received" and at the transform it says "Could not transform from [] to [odom]" I can't figure out what I did wrong.

[@yourileenman8403]

Awesome video, looking forward to autonomous navigation

[@AdiMehaindroo]

sir im directly working on the real robot with a hdmi monitor im not on a host machine so how can i create a map im also using ros2 foxy shouild i use "bring_up" command or not or what should i do to make a map with my lidar in my real enviornment? thank you

[@sharma1521]

I want to learn if I can just change the map without any parameter or node difference?

[@solutionhacker]

Thanks alot! Very insightful video! Looking forward to the next one too.

[@MrPrinzovdarkness]

I would like more videos on SLAM with other sensors as well as how to fuse these sensors and algorithms together

[@karincatech6322]

i agree, and also it would be perfect to learn it from the master 'Josh' :)

[@burf2000]

So I have hit a bit of a issue, when driving forward mine rotates a little, like 1 motor is more powerful than the other, any advice

[@ថាន្នីសុគុណ]

I can't understand from Localization with slam toolbox and Localization with amcl . Could you make a video to explain more about these two points? Or show me how to load the saved map into the rviz.

[@ricardocasimiro6424]

great job! thanks for the video. it could be interesting to compare with cartographer and also add imu and gps also it could be very interesting to show the base math behind these algorithms

[@jtx5868]

Hey friend , I have error which is ros2 " could not contact service /controller_manager/load_controller" so what is the problem here ? Ps : i had loading controller once last week but after that i had this error every time i want running my simulation

[@RAINE____]

Such great explanations

[@messedmushroom]

It would be great to see a more deep dive into SLAM, other sensors like IMUs, depth cameras, etc!

[@valivetisreekar1983]

hello Josh .When i am trying to run nav2_map_server .It publishes on the map topic only once .Did this happen to you

[@vetriselvam5152]

when i am trying to mapping in real robot that time the map also moving................ real bot i am was run robot.launch.py and lidar.launch.py its workking perfectly and dev machine i am trying to run rviz its working properly and salm test iam set false its also running good then iam trying to run mapping is not working perfectly map also jumping what can i do ....?

[@manikandanrobomiracle]

same error please share the solution for this issue.

[@manikandanrobomiracle]

same error

[@manikandanrobomiracle]

please give us a solution for this error @ArticulatedRobotics

[@noahHAyoumentionedme]

Hey I love your videos, you are so clear and precise. It's great! Would you be willing to do a video on vSLAM? I'm particularly interested in orb-slam monocular and similar single camera SLAM method. Thank you so much again!

[@edoardodanna850]

HI! I have some issues with the installation of slam_toolbox on ros2 Jazzy version. Using your robot, I am not able to display the slam environment on rviz2. Could you help me? thanks in advance.

[@MemoxCid]

Hello, its posbible to use a KINECT V1 to do slam in ROS2?

[@James-Clerk-Maxwell1831]

Which directory will the map be saved and serialized?

[@ballajaisheel1120]

how to get odom and map in rviz fixed frame in global options where should i declare it ...please can you help me to go through this problem this is my college project thanks and regards b jaisheel

[@greggas87]

Thanks for the great work Josh. Has anyone managed to get the map-server to publish the map to Rviz2 on Humble? I have the correct QOS settings configured, but can't identify why the map is not being received. Thanks in advance.

[@greggas87]

Problem solved, make sure your fixed-frame is set to 'map' not 'odom' and using cyclonedds as ros2 dds middleware instead of fastdds is apparently recommended for nav2 and moveit2.

[@ballajaisheel1120]

@@greggas87 how to get odom and map in rviz fixed frame in global options where should i declare it ...please can you help me to go through this problem this is my college project thanks and regards b jaisheel

[@greggas87]

@@ballajaisheel1120 Under global options you can set the fixed-frame, (top left hand corner of Rviz).

[@Pandakaniya]

Thnaks brah!

[@ishansehgal526]

my laser pont data is moving even with out the mapping just in rviz the data is roatating with the robot

[@mitcaro7310]

Had the same problem. The reason was a mismatch between the value of my wheel radius in urdf and my_controller.yaml wheel_radius value.

[@abelgeorge4953]

Hello! Do you think using a imu sensor with a sensor fusion algorithm might help improve the accuracy? Especially when the odometery is not very accurate? If yes how might i go about implementing that with the slam toolbox or nav?

[@-HASANBASARI]

Are done this ?

[@ЖИЗНЬСДЛИННЫМ]

Hi! Is it possible to use 3d LiDAR for mapping this way?

[@zzzzzzzzzzzzzzz-78]

How to save mapping with catrographer?

[@ctrlaltdel3917]

The missile knows where it is at all times. It knows this because it knows where it isn't.

[@hiepvu7455]

thanks for your video, but i still wonder how you can connect remotely to raspberry pi4 and it looks really smooth, like it has no delay

[@khaino6828]

I followed this tutorial, but I cannot draw a map because Map, Odom, and base_link are not linked. How can I link them?

[@nathang4661]

Thanks for the great video ! Has anyone faced a situation where the odometry and scan topics were not synchronised ? I think it is causing my /scan messages to be dropped so I can't get a map using slam_toolbox.

[@ziweizhang4302]

Hi, how to use pgm file for localization, thanks!

[@maaliGara]

thank you so much , this helped a lot . you are the best !

[@nguyentrungnguyen3059]

I wonder if there are any other SLAM methods like Hector Slam or Gmapping in Ros2?

[@horowitsfamily]

HI! can you plz tell me what is the video that came before this one? is there a sorted tutorial? thanks!

[@codewithemmaprime]

i have followed your tutorial to this point and i love it. But the issue i have at this point is that my map is jumpy. as i am trying to map my environment, everything works for a while then all of a suddend the map jumps

[@manikandanrobomiracle]

same error

[@codewithemmaprime]

​@@manikandanrobomiracleIf you are still having the same issue. It's because you have not gotten the correct value of your encoder CPR. So you should determine that by writing a simple Arduino script to read encoder value. Then rotate the wheel manually to by one revolution and not the value. Do this for about 5 times and get the average

[@phmiii]

Yes to All!

[@0jeetparmar0]

[async_slam_toolbox_node-1] LaserRangeScan contains 455 range readings, expected 460 geting this error what should i do? thanks and regards

[@hamidmirza333]

Thank you for the awesome video! As a newcomer to robotics, I'm eager to work with Gazebo and ROS, and I'll need to use a Windows system with Linux. Could you please provide some guidance on the system specifications that would be sufficient for this?

[@testtestovich8755]

Thank you very mach. You are greate man!

[@TaleTech-RoboticsProgramming]

Hello, thank you for detailed explanation of using slam_toolbox. I want to do SLAM using my Intel D435i camera. Should I have to compute transform data ('odom' -> 'base_footprint') and publish it? I guess in Gazebo environment the odometry data is automatically published.

[@c_18_ashnitjakkal31]

Pretty good playlist until now great to have a head start in ros in just 2 days... but i had a doubt plz help me clear it When i am done with mapping and set the parameter to localization in mapper_params and also have given the map_file_name yet i am unable to use the saved map again for localization with slam . P.S. I am using ROS2 Humble , Ubuntu 22.04

[@orim7734]

Hi, I like your work, do you think the slam can be processed directly onboard the Raspberry Pi 4 8GB and provide better results?

[@luizcarlosvilasboas7975]

The "params_file" parameter has been changed to "slam_params_file" , please where to change that?

[@sulaiman-hd8pz]

At about 5.30, How would the odom frame relate to another vehicle, say a flying drone? Since it does not have a pose estimate from the rotation of the wheels? please note: I am using ardupilot and the drone from iq_sim. so there is a connection with /mavros I am having some trouble localizing because i do not have the transform from odom to base_footprint but i do have the transform for map to base_footprint. would really appreciate if anyone can help me understand this. cheers!

[@jersonimmanuvel2036]

When im trying to map our real bot the obstacles also rotating what can i do now anyone help me?

[@xdboys]

in ros humble, the name of the argument that points to slam params file, should be 'slam_params_file'

[@ArticulatedRobotics]

Thank you, yes this was made for foxy and there has now been a slight change, which I (annoyingly) missed in my "differences for humble" video.

[@xdboys]

@@ArticulatedRobotics i truly appreciate all the amazing work you have put into your videos. They have been incredibly helpful to me! Watched all of them

[@zianwang328]

which version of ROS is used?

[@marcel-dennisboerzel7902]

I have the problem, that i got return [slam_toolbox]: Failed to compute odom pose. I also see that in rviz when adding the map i get the warning no mapped received. while launching online_async_launch... slam_params_file... It also notes: Message FIlter dropping message: frame 'laser_frame'... Discarding message because the queue is full. How can I debug this? Do we use for the odometry the motor encoders or the lidar? I'm didn't got this information. And depending on that, what are the requirements that have to be established then? I'm using a different LiDAR then tutorials Thanks in advance Your Tutorials are amazing!!!

[@joujo1212]

Hi @Marcel, did you solve it somehow? The same issue on my side

[@marcel-dennisboerzel7902]

@@joujo1212 Unfortunately not :/

[@cyka_delik9537]

How feasible do you think running SLAM directly on a Pi 5 would be now with the new Jazzy/Ubuntu 22.04 combo?

[@KirillPartala]

Thanks for your video! Can you help me please to fix one problem with map in Rviz? Ubuntu 22.04 ROS2 Humble. When I run map_server there are no map frame in Rviz: Frame [map] does not exist. But map_server don't have any errors or warnings in terminal afret bringup. Static tf publisher fix this issue, but I don't know how to configure it. I tried to add static tf publisher to map, so map frame appears in Rviz, but if I add static tf from odom to map, both map and odom start stay at the same place when I move robot. It looks wrong...

[@jothamprince8765]

Hey man, great video as always though I've got one issue with this one, I've tried doing everything exactly the way you do but when I save my Map it does not open again for some reason. I save it, it saves properly but opening it again does not work, I've been at this for 2 days eh...

[@jan-peterbornsen8506]

If you are using humble the command that opens Slam needs "params_file" changed to "slam_params_file" instead.

[@jothamprince8765]

Oh, thanks a lot man, btw how can I know these small differences that they make in these distributions ?

[@mr.p215]

@@jan-peterbornsen8506 I want to kiss you, you beautiful, beautiful man

[@suveerudayashankara4273]

Hi it was very nice to watch the video gained a lot of understanding similarly, how can we do it for the coverage path planning algorithm?

[@aryadharmasudhartio1561]

can i do this with rgb camera?

[@sotosSC]

Great job! Can we get a video for using VI based SLAM, by maybe using OpenVSLAM or others? Thanks

[@botlabsInnovation]

Thanks for awasome video! Can you also share your thoughts on visual slam techniques!

[@ballajaisheel1120]

can u please help how map_updates work my map doesnt updates simultaneously

[@nafisahmed6247]

Awesome tutorial. 3D SLAM tutorial please

[@bilalahmedarain6206]

Hi dear I hope you are doing well. I want your help regarding Gmapping using motor encoders. Actually my robot's Odom is jumping with the map update. I will be really helpful if you just look into my issue. let me know then so that I can share more details and the code.

[@phucduonghien3178]

i use raspberry pi 4b ram 2GB, can it work for this? thank u so much

[@maalonszuman491]

Hey if i dont have a base link is it possible to make it work ?

[@russhall1097]

ROS requires the robot to have a base-link. It's a software term only, describing the robot base size and position.

[@jorgeluisleiton6171]

Hello, I am currently working with RPLIDAR, raspberry pi4, to be able to map the area in real time with the lidar. Currently I can't make the link between the laser and the simulation in RVIZ. somebody could help me?

[@user-ux6jo7nj4t]

have you managed to do it ?

[@meu22422]

I am a C++ developer, wanting to switch to robotics development. I have no idea about electronics and sensors. Can I learn ROS without hardware?

[@delta3Robotics]

Yes you can.There are a lot of tutorials and simulators. I even start learning with simulation even if I would have the hardware.

[@delta3Robotics]

That's a very good question. I would love to hear the answer

[@Pandakaniya]

Do you have courses on udemy or somewhere?

[@AyushmanTiwariJE]

i love you. you are an angel.

[@achraf1647]

is it working with Rplidar A1m8?

[@ArticulatedRobotics]

Yep!

[@achraf1647]

@@ArticulatedRobotics thank u

[@thebeastgaming4642]

Please also do this whole project in ros jazzy

[@mohammedthabrez4540]

UPDATE: If you're on humble or newer, please note that "params_file" has changed to "slam_params_file". can someone tell me where is this in the code ??? PLEASE

[@hokx4256]

did you found it?

[@-HASANBASARI]

It's in a command line of slam mapping

[@RoboMech48]

josh make a video to add imu sensor to improve odometery of robot @josh

[@ArticulatedRobotics]

I am very keen too but it is currently a fair way down the pipeline...

[@ramanarayananbalasubramani2898]

Good day sir, I've been following your videos for my final year project. First of I would like to thank you for posting a structured video as it helps us all understand concepts easily. I have a doubt regarding the project. I've noticed that you controlling your real robot (robot_ws) using developer machine (dev_ws). I am unable interface/control the real robot from my developer machine (dev_ws) to real robot (robot_ws). I kindly request you to share your insights regarding this Thanks in advance.

[@MemoxCid]

Hello ¿Could you do a video using robot_localicalization pkg using IMU and GPS for a real robot?. Please...Your videos are greats !!!

[@maximebernard5094]

nav2 Pls

[@dgb5820]

I got lost after map

[@iljujjang]

how can i marry?

[@sergiorome42]

"easy", sir i have spent hours troubleshooting

[@dennisweser4595]

Hi, I'm struggling with the whole part where you get the map working in rviz. I'm doing everything exactly as you explained, even made sure to use "slam_params_file" (I'm on humble) however I keep getting the error "[async_slam_toolbox_node-1] [INFO] [1716661172.010830830] [slam_toolbox]: Message Filter dropping message: frame 'Lidar_1' at time 1716661171.741 for reason 'discarding message because the queue is full'" what could that be?

[@islingtonrobotica]

Did you resolve this?