Multiranger_mapping_launch issue

[AFKBOI92]

As of recently, running the multiranger mapping launch file no longer works as it previously did. I would usually see clues such as the slamtoolbox node initializing in the logs:

[INFO] [launch]: All log files can be found below /home/basim/.ros/log/2025-01-06-16-32-55-123528-LAPTOP-T0B6LCTS-1018
[INFO] [launch]: Default logging verbosity is set to INFO
/opt/ros/jazzy/lib/python3.12/site-packages/launch/conditions/launch_configuration_equals.py:53: UserWarning: The 'LaunchConfigurationEquals' and 'LaunchConfigurationNotEquals' Conditions are  deprecated. Use the 'EqualsSubstitution' and 'NotEqualsSubstitution' substitutions instead! E.g.:
  IfCondition(
        EqualsSubstitution(LaunchConfiguration('some_launch_arg'), "some_equality_check")
  )
  warnings.warn(
[INFO] [crazyflie_server.py-1]: process started with pid [1021]
[INFO] [vel_mux.py-2]: process started with pid [1022]
[INFO] [async_slam_toolbox_node-3]: process started with pid [1023]
[crazyflie_server.py-1] [INFO] [1736199181.475492523] [crazyflie_server]: [cf1] is connected!
[crazyflie_server.py-1] [INFO] [1736199181.476518880] [crazyflie_server]: All Crazyflies are connected! It took 5.574139833450317 seconds
[crazyflie_server.py-1] [INFO] [1736199181.477917423] [crazyflie_server]: [cf1] setup logging for pose at freq 10
[crazyflie_server.py-1] [INFO] [1736199181.479421526] [crazyflie_server]: [cf1] setup logging for scan at freq 10
[crazyflie_server.py-1] [INFO] [1736199181.482221469] [crazyflie_server]: [cf1] setup logging for odom at freq 10
[crazyflie_server.py-1] [INFO] [1736199181.484479387] [crazyflie_server]: [cf1] setup logging for status at freq 1
[crazyflie_server.py-1] [INFO] [1736199181.487074558] [crazyflie_server]: All Crazyflies logging are initialized.
[crazyflie_server.py-1] [INFO] [1736199181.488145444] [crazyflie_server]: [cf1] commander.enHighLevel is set to 1
[crazyflie_server.py-1] [INFO] [1736199181.490081225] [crazyflie_server]: [cf1] locSrv.extPosStdDev is set to 0.001
[crazyflie_server.py-1] [INFO] [1736199181.491832165] [crazyflie_server]: [cf1] locSrv.extQuatStdDev is set to 0.05
[crazyflie_server.py-1] [INFO] [1736199181.493901964] [crazyflie_server]: [cf1] stabilizer.controller is set to 1
[crazyflie_server.py-1] [INFO] [1736199181.496182096] [crazyflie_server]: [cf1] stabilizer.estimator is set to 2
[crazyflie_server.py-1] [INFO] [1736199181.496908177] [crazyflie_server]: All Crazyflies parameters are initialized.
[vel_mux.py-2] [INFO] [1736199181.751207811] [vel_mux]: Velocity Multiplexer set for /cf1 with height 0.3 m using the /cmd_vel topic
[crazyflie_server.py-1] [INFO] [1736199182.970621127] [crazyflie_server]: [cf1] is fully connected!
[crazyflie_server.py-1] [INFO] [1736199182.971413273] [crazyflie_server]: All Crazyflies are fully connected! It took 7.069222927093506 seconds

Example of the tutorial section for crazyswarm2 for comparison:

[INFO] [launch]: All log files can be found below /home/knmcguire/.ros/log/2022-10-03-16-15-53-553693-kim-legion-15498
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [crazyflie_server.py-1]: process started with pid [15500]
[INFO] [vel_mux.py-2]: process started with pid [15502]
[INFO] [async_slam_toolbox_node-3]: process started with pid [15504]
[async_slam_toolbox_node-3] [INFO] [1664806553.866149124] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[vel_mux.py-2] [INFO] [1664806559.174521891] [vel_mux]: Velocity Multiplexer set for /cf231 with height 0.3 m using the /cmd_vel topic
[crazyflie_server.py-1] [INFO] [1664806560.043101845] [crazyflie_server]:  radio://0/20/2M/E7E7E7E701 is fully connected!
[crazyflie_server.py-1] [INFO] [1664806560.044138096] [crazyflie_server]: All Crazyflies are fully connected!
[crazyflie_server.py-1] [INFO] [1664806560.054259470] [crazyflie_server]:  radio://0/20/2M/E7E7E7E701: commander.enHighLevel is set to 1
[crazyflie_server.py-1] [INFO] [1664806560.105691178] [crazyflie_server]:  radio://0/20/2M/E7E7E7E701: stabilizer.controller is set to 1
[crazyflie_server.py-1] [INFO] [1664806560.107138259] [crazyflie_server]:  radio://0/20/2M/E7E7E7E701: stabilizer.estimator is set to 2
[crazyflie_server.py-1] [INFO] [1664806560.114968490] [crazyflie_server]: All Crazyflies parameters are initialized
[crazyflie_server.py-1] [INFO] [1664806560.116479518] [crazyflie_server]: radio://0/20/2M/E7E7E7E701 setup logging for scan at freq 10
[crazyflie_server.py-1] [INFO] [1664806560.118522365] [crazyflie_server]: radio://0/20/2M/E7E7E7E701 setup logging for odom at freq 10
[crazyflie_server.py-1] [INFO] [1664806560.123137907] [crazyflie_server]: All Crazyflies loggging are initialized
[async_slam_toolbox_node-3] [INFO] [1664806560.329904109] [slam_toolbox]: Message Filter dropping message: frame 'cf231' at time 1664806560.232 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-3] Info: clipped range threshold to be within minimum and maximum range!
[async_slam_toolbox_node-3] [WARN] [1664806560.333439709] [slam_toolbox]: maximum laser range setting (3.5 m) exceeds the capabilities of the used Lidar (3.5 m)
[async_slam_toolbox_node-3] Registering sensor: [Custom Described Lidar]

In addition, stuff like the ‘/map’ topic not showing up when in the ‘by topic’ tab in rviz2.
I've noticed that the code has changed for the 3 launch files over the course of last year so I'm not sure if this is a known issue.

multiranger_mapping_launch.py :

import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node


def generate_launch_description():

    crazyflie = IncludeLaunchDescription(
        PythonLaunchDescriptionSource([os.path.join(
            get_package_share_directory('crazyflie'), 'launch'),
            '/launch.py']),
        launch_arguments={
            'backend': 'cflib',
            'gui': 'false',
            'teleop': 'false',
            'mocap': 'false',
            }.items())

    return LaunchDescription([
        crazyflie,
        Node(
            package='crazyflie',
            executable='vel_mux.py',
            name='vel_mux',
            output='screen',
            parameters=[{'hover_height': 0.3},
                        {'incoming_twist_topic': '/cmd_vel'},
                        {'robot_prefix': '/cf1'}]
        ),
        Node(
            parameters=[
                {'odom_frame': 'cf1/odom'},
                {'map_frame': 'map'},
                {'base_frame': 'cf1'},
                {'scan_topic': '/cf1/scan'},
                {'use_scan_matching': False},
                {'max_laser_range': 3.5},
                {'resolution': 0.1},
                {'minimum_travel_distance': 0.01},
                {'minimum_travel_heading': 0.001},
                {'map_update_interval': 0.1}
            ],
            package='slam_toolbox',
            executable='async_slam_toolbox_node',
            name='slam_toolbox',
            output='screen'),
    ])

[knmcguire]

hi! indeed it has changed but it has been double checked before pushing.

People have been reporting issues with the odometry message. Are you seeing cf1/odom if you do ros2 topic list ?

[AFKBOI92]

Yes I am, but the /map topic is not showing up in rviz for me to proceed.
I am also missing some of the messages when compared to the one seen in ROS2 Tutorials for example:

[INFO] [launch]: All log files can be found below /home/knmcguire/.ros/log/2022-10-03-16-15-53-553693-kim-legion-15498
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [crazyflie_server.py-1]: process started with pid [15500]
[INFO] [vel_mux.py-2]: process started with pid [15502]
[INFO] [async_slam_toolbox_node-3]: process started with pid [15504]
[async_slam_toolbox_node-3] [INFO] [1664806553.866149124] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[vel_mux.py-2] [INFO] [1664806559.174521891] [vel_mux]: Velocity Multiplexer set for /cf231 with height 0.3 m using the /cmd_vel topic
[crazyflie_server.py-1] [INFO] [1664806560.043101845] [crazyflie_server]:  radio://0/20/2M/E7E7E7E701 is fully connected!
[crazyflie_server.py-1] [INFO] [1664806560.044138096] [crazyflie_server]: All Crazyflies are fully connected!
[crazyflie_server.py-1] [INFO] [1664806560.054259470] [crazyflie_server]:  radio://0/20/2M/E7E7E7E701: commander.enHighLevel is set to 1
[crazyflie_server.py-1] [INFO] [1664806560.105691178] [crazyflie_server]:  radio://0/20/2M/E7E7E7E701: stabilizer.controller is set to 1
[crazyflie_server.py-1] [INFO] [1664806560.107138259] [crazyflie_server]:  radio://0/20/2M/E7E7E7E701: stabilizer.estimator is set to 2
[crazyflie_server.py-1] [INFO] [1664806560.114968490] [crazyflie_server]: All Crazyflies parameters are initialized
[crazyflie_server.py-1] [INFO] [1664806560.116479518] [crazyflie_server]: radio://0/20/2M/E7E7E7E701 setup logging for scan at freq 10
[crazyflie_server.py-1] [INFO] [1664806560.118522365] [crazyflie_server]: radio://0/20/2M/E7E7E7E701 setup logging for odom at freq 10
[crazyflie_server.py-1] [INFO] [1664806560.123137907] [crazyflie_server]: All Crazyflies loggging are initialized
[async_slam_toolbox_node-3] [INFO] [1664806560.329904109] [slam_toolbox]: Message Filter dropping message: frame 'cf231' at time 1664806560.232 for reason 'discarding message because the queue is full'
[async_slam_toolbox_node-3] Info: clipped range threshold to be within minimum and maximum range!
[async_slam_toolbox_node-3] [WARN] [1664806560.333439709] [slam_toolbox]: maximum laser range setting (3.5 m) exceeds the capabilities of the used Lidar (3.5 m)
[async_slam_toolbox_node-3] Registering sensor: [Custom Described Lidar]

[knmcguire]

Alright. I won't be able to try this myself for a while since I don't have hardware for me available at the point. The problem is that the SLAm toolbox node startup but is not receiving one of the topics properely.

How does the ROS2 node graph look like?
Could you also copy paste the topic lists?

[AFKBOI92]

Here's a screenshot from the nodegraph:

Here's my output when typing ros2 topic list:

$ ros2 topic list
/cf1/cmd_full_state
/cf1/cmd_hover
/cf1/cmd_vel_legacy
/cf1/odom
/cf1/pose
/cf1/robot_description
/cf1/scan
/cf1/status
/cmd_vel
/parameter_events
/poses
/rosout
/slam_toolbox/transition_event
/tf

[knmcguire]

Alright, seems like the slam toolbox is not getting the cf1/odom and cf1/scan at all... I'll need to get some hardware and look into this but this might take a while. In the mean time if you find the solution already, please share it here.