Lua dictionary check failed [Turtlebot RPLidar]

[Saken Kenzhegulov]

Hi!

I'm quite new in ROS, but I managed to run Cartographer on Turtlebot with Lidar laser scanner.

Now, I want to run cartographer inside of the docker container.

Build was successful, however, when I try to run the cartographer I got this error message:

F0522 15:31:05.834803    62 lua_parameter_dictionary.cc:83] Check failed: status == 0 (2 vs. 0) [string "-- Copyright 2016 The Cartographer Authors..."]:35: attempt to index global 'TRAJECTORY_BUILDER_2D' (a nil value)

[FATAL] [1495467065.836863441]: F0522 15:31:05.000000    62 lua_parameter_dictionary.cc:83] Check failed: status == 0 (2 vs. 0) [string "-- Copyright 2016 The Cartographer Authors..."]:35: attempt to index global 'TRAJECTORY_BUILDER_2D' (a nil value)

*** Check failure stack trace: ***

    @     0x7f35c0b39daa  (unknown)

    @     0x7f35c0b39ce4  (unknown)

    @     0x7f35c0b396e6  (unknown)

    @     0x7f35c0b3c687  (unknown)

    @           0x52abd1  cartographer::common::(anonymous namespace)::CheckForLuaErrors()

    @           0x52b111  cartographer::common::LuaParameterDictionary::LuaParameterDictionary()

    @           0x52b28d  cartographer::common::LuaParameterDictionary::LuaParameterDictionary()

    @           0x4e8a0a  cartographer_ros::(anonymous namespace)::Run()

    @           0x4e69ad  main

    @     0x7f35bc7e3f45  (unknown)

    @           0x4e8017  (unknown)

    @              (nil)  (unknown)

[ INFO] [1495467065.830134774]: I0522 15:31:05.000000    62 configuration_file_resolver.cc:40] Found '/home/rosuser/catkin_ws/install_isolated/share/cartographer_turtlebot/configuration_files/turtlebot_rplidar_2d.lua' for 'turtlebot_rplidar_2d.lua'.

[ INFO] [1495467065.832219159]: I0522 15:31:05.000000    62 configuration_file_resolver.cc:40] Found '/home/rosuser/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.

[ INFO] [1495467065.832627908]: I0522 15:31:05.000000    62 configuration_file_resolver.cc:40] Found '/home/rosuser/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.

[ INFO] [1495467065.833310560]: I0522 15:31:05.000000    62 configuration_file_resolver.cc:40] Found '/home/rosuser/catkin_ws/install_isolated/share/cartographer/configuration_files/sparse_pose_graph.lua' for 'sparse_pose_graph.lua'.

[ INFO] [1495467065.833749517]: I0522 15:31:05.000000    62 configuration_file_resolver.cc:40] Found '/home/rosuser/catkin_ws/install_isolated/share/cartographer/configuration_files/sparse_pose_graph.lua' for 'sparse_pose_graph.lua'.

[cartographer_node-2] process has died [pid 62, exit code -6, cmd /home/rosuser/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/rosuser/catkin_ws/install_isolated/share/cartographer_turtlebot/configuration_files -configuration_basename turtlebot_rplidar_2d.lua __name:=cartographer_node __log:=/home/rosuser/.ros/log/a9abb448-3f03-11e7-9ccb-0242ac110002/cartographer_node-2.log].

log file: /home/rosuser/.ros/log/a9abb448-3f03-11e7-9ccb-0242ac110002/cartographer_node-2*.log

What can be wrong?

Thanks in advance!

Best regards,

Saken

[Holger Rapp]

​Cartographer_ros configuration file format is currently being changed for upcoming multi trajectory support. You have been bitten by this: your configuration file does no longer follow the current convention. You can see the changes you need to make by looking at the diff of #329 and the changes made to the .lua files. You have to repeat them for your own configuration files.

​

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