if the slam_gmapping can run in ros2 Dashing?

[WangFengtu1996]

I installed docker,then i pull the ros: dashing-ros-base. Then, I download the source code from github.
When i execute ros2 launch slam_gmapping slam_gmapping.launch.py ,but i got malformed launch argument 'slam_gmapping.launch.py', expected format ':=' .
So, I want to know if the slam_gampping can run in ros2 Dashing?
if can ,how should i do
thanks for your help.

[WangFengtu1996]

Then， I execute ros2 launch slam_gmapping slam_gmapping.launch.py in ros2 crystal installed in docker. But I got malformed launch argument 'slam_gmapping.launch.py', expected format ':='
So , how should i do ?
Thanks for your time.

[shiveshkhaitan]

slam_gmapping should work on both crystal and dashing. It works fine with both source built and debian packages. Are you supplying any additional arguments after the command?

ros2 launch slam_gmapping slam_gmapping.launch.py

There should not be any additional arguments provided.

[WangFengtu1996]

Thanks for your time.
NO, I just execute the command.

ros2 launch slam_gmapping slam_gmapping.launch.py

but I got

malformed launch argument 'slam_gmapping.launch.py', expected format '<name>:=<value>'

I don't konw what I should do .

[shiveshkhaitan]

The launch file currently just runs the node slam_gmapping.

Can you try ros2 run slam_gmapping slam_gmapping?

[WangFengtu1996]

Thanks for you time. but it does not work .
can't find slam_gmapping

[shiveshkhaitan]

This error should come up only if:

• either the package is not built
• or the workspace is not sourced

[WangFengtu1996]

Thanks for your time.
Yes,I did not build the package.
But, when I execute ros2 launch slam_gmapping slam_gmapping.launch.py,
I got the error
undefined symbol: _ZN7tf2_ros20TransformBroadcaster13sendTransformERKN13geometry_msgs3msg17TransformStamped_ISaIvEEE
When I execute
ros2 run slam_gmapping slam_gmapping
I also got
undefined symbol: _ZN7tf2_ros20TransformBroadcaster13sendTransformERKN13geometry_msgs3msg17TransformStamped_ISaIvEEE

I want to know the error because of the building warning.
`Starting >>> openslam_gmapping
Finished <<< openslam_gmapping [6.65s]
Starting >>> slam_gmapping
--- stderr: slam_gmapping
In file included from /opt/ros/dashing/include/tf2/utils.h:20:0,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:41,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/opt/ros/dashing/include/tf2/impl/utils.h:114:2: warning: extra ‘;’ [-Wpedantic]
};
^
/opt/ros/dashing/include/tf2/impl/utils.h:148:2: warning: extra ‘;’ [-Wpedantic]
};
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:9:0,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/particlefilter/particlefilter.h: In function ‘void rle(OutputIterator&, const Iterator&, const Iterator&)’:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/particlefilter/particlefilter.h:140:2: warning: this ‘if’ clause does not guard... [-Wmisleading-indentation]
if (count>0)
^~
/root/ros2_ws/install/openslam_gmapping/include/gmapping/particlefilter/particlefilter.h:142:3: note: ...this statement, but the latter is misleadingly indented as if it were guarded by the ‘if’
out++;
^~~
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:10:0,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/utils/point.h: At global scope:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/utils/point.h:205:2: warning: extra ‘;’ [-Wpedantic]
}; //end namespace
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/sensor/sensor_base/sensorreading.h:4:0,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/log/sensorlog.h:6,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:12,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/sensor/sensor_base/sensor.h:21:2: warning: extra ‘;’ [-Wpedantic]
}; //end namespace
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/log/sensorlog.h:6:0,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:12,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/sensor/sensor_base/sensorreading.h:23:2: warning: extra ‘;’ [-Wpedantic]
}; //end namespace
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/log/sensorlog.h:7:0,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:12,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/sensor/sensor_odometry/odometrysensor.h:17:2: warning: extra ‘;’ [-Wpedantic]
};
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/log/sensorlog.h:8:0,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:12,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/sensor/sensor_range/rangesensor.h:33:2: warning: extra ‘;’ [-Wpedantic]
};
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/log/sensorlog.h:9:0,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:12,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/sensor/sensor_odometry/odometryreading.h:27:2: warning: extra ‘;’ [-Wpedantic]
};
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/log/sensorlog.h:10:0,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:12,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/sensor/sensor_range/rangereading.h:24:2: warning: extra ‘;’ [-Wpedantic]
};
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/log/sensorlog.h:11:0,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:12,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/log/configuration.h:15:2: warning: extra ‘;’ [-Wpedantic]
};
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:12:0,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/log/sensorlog.h:27:2: warning: extra ‘;’ [-Wpedantic]
};
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/grid/map.h:5:0,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/smmap.h:3,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/scanmatcher.h:5,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:15,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/grid/accessstate.h:6:2: warning: extra ‘;’ [-Wpedantic]
};
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/grid/map.h:6:0,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/smmap.h:3,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/scanmatcher.h:5,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:15,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/grid/array2d.h:185:2: warning: extra ‘;’ [-Wpedantic]
};
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/smmap.h:3:0,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/scanmatcher.h:5,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:15,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/grid/map.h:262:2: warning: extra ‘;’ [-Wpedantic]
};
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/grid/harray2d.h:5:0,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/smmap.h:4,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/scanmatcher.h:5,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:15,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/utils/autoptr.h:96:2: warning: extra ‘;’ [-Wpedantic]
};
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/smmap.h:4:0,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/scanmatcher.h:5,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:15,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/grid/harray2d.h:197:2: warning: extra ‘;’ [-Wpedantic]
};
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/scanmatcher.h:5:0,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:15,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/smmap.h:52:2: warning: extra ‘;’ [-Wpedantic]
};
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/scanmatcher.h:7:0,
from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:15,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/utils/stat.h:145:2: warning: extra ‘;’ [-Wpedantic]
}; //end namespace
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:15:0,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/scanmatcher/scanmatcher.h:250:2: warning: extra ‘;’ [-Wpedantic]
};
^
In file included from /root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:16:0,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/motionmodel.h:17:2: warning: extra ‘;’ [-Wpedantic]
};
^
In file included from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:45:0,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/root/ros2_ws/install/openslam_gmapping/include/gmapping/gridfastslam/gridslamprocessor.h:335:2: warning: extra ‘;’ [-Wpedantic]
};
^
/root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp: In member function ‘void SlamGmapping::startLiveSlam()’:
/root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:95:82: warning: ‘std::shared_ptr rclcpp::Node::create_publisher(const string&, const rmw_qos_profile_t&, std::shared_ptr<Up>) [with MessageT = std_msgs::msg::Float64<std::allocator >; AllocatorT = std::allocator; PublisherT = rclcpp::Publisher<std_msgs::msg::Float64_<std::allocator > >; std::__cxx11::string = std::cxx11::basic_string; rmw_qos_profile_t = rmw_qos_profile_t]’ is deprecated: use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead [-Wdeprecated-declarations]
entropy_publisher = this->create_publisher<std_msgs::msg::Float64>("entropy");
^
In file included from /opt/ros/dashing/include/rclcpp/node.hpp:1206:0,
from /opt/ros/dashing/include/rclcpp/executors/single_threaded_executor.hpp:28,
from /opt/ros/dashing/include/rclcpp/executors.hpp:22,
from /opt/ros/dashing/include/rclcpp/rclcpp.hpp:144,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:30,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/opt/ros/dashing/include/rclcpp/node_impl.hpp:96:1: note: declared here
Node::create_publisher(
^~~~
/root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:96:70: warning: ‘std::shared_ptr rclcpp::Node::create_publisher(const string&, const rmw_qos_profile_t&, std::shared_ptr<Up>) [with MessageT = nav_msgs::msg::OccupancyGrid<std::allocator >; AllocatorT = std::allocator; PublisherT = rclcpp::Publisher<nav_msgs::msg::OccupancyGrid<std::allocator > >; std::__cxx11::string = std::cxx11::basic_string; rmw_qos_profile_t = rmw_qos_profile_t]’ is deprecated: use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead [-Wdeprecated-declarations]
sst = this->create_publisher<nav_msgs::msg::OccupancyGrid>("map");
^
In file included from /opt/ros/dashing/include/rclcpp/node.hpp:1206:0,
from /opt/ros/dashing/include/rclcpp/executors/single_threaded_executor.hpp:28,
from /opt/ros/dashing/include/rclcpp/executors.hpp:22,
from /opt/ros/dashing/include/rclcpp/rclcpp.hpp:144,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:30,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/opt/ros/dashing/include/rclcpp/node_impl.hpp:96:1: note: declared here
Node::create_publisher(
^~~~
/root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:97:78: warning: ‘std::shared_ptr rclcpp::Node::create_publisher(const string&, const rmw_qos_profile_t&, std::shared_ptr<Up>) [with MessageT = nav_msgs::msg::MapMetaData<std::allocator >; AllocatorT = std::allocator; PublisherT = rclcpp::Publisher<nav_msgs::msg::MapMetaData<std::allocator > >; std::__cxx11::string = std::_cxx11::basic_string; rmw_qos_profile_t = rmw_qos_profile_t]’ is deprecated: use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead [-Wdeprecated-declarations]
sstm = this->create_publisher<nav_msgs::msg::MapMetaData>("map_metadata");
^
In file included from /opt/ros/dashing/include/rclcpp/node.hpp:1206:0,
from /opt/ros/dashing/include/rclcpp/executors/single_threaded_executor.hpp:28,
from /opt/ros/dashing/include/rclcpp/executors.hpp:22,
from /opt/ros/dashing/include/rclcpp/rclcpp.hpp:144,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/include/slam_gmapping/slam_gmapping.h:30,
from /root/ros2_ws/src/slam_gmapping/slam_gmapping/src/slam_gmapping.cpp:24:
/opt/ros/dashing/include/rclcpp/node_impl.hpp:96:1: note: declared here
Node::create_publisher(
^~~~

Finished <<< slam_gmapping [8.76s]
`

[shiveshkhaitan]

slam_gmapping is unable to find the definition of tf2_ros. Can you check if has it been built correctly?