The issue was indeed due to the time_increment. It was set using
> Jan,
> Based on your topic name it looks like you are using a Sick LMS.
> There is a ROS driver for it in the sicktoolbox_wrapper which you
> might find useful to either use or for a reference. It is documented
> at http://www.ros.org/wiki/sicktoolbox_wrapper
>
> Tully
>
> On Tue, May 25, 2010 at 3:31 PM, Josh Faust <jfaust@willowgarage.com
> <mailto:jfaust@willowgarage.com>> wrote:
>
> Hi Jan,
>
> It looks like the time_increment field in your laser scans are set
> to 0.0924214... this field is meant to be the amount of time
> between each reading in the scan, so 90 milliseconds is quite
> high. rviz multiplies this by the number of readings in the scan
> to set the time tolerance on the filter it uses, to ensure that
> the entire message can be transformed correctly, not just the
> first reading.
>
> A more reasonable time_increment would be a few orders of
> magnitude smaller. An example from our tilting laser is
> 1.73611115315e-05
>
> I've filed a ticket to make rviz warn in cases of unreasonably
> large time_increment values:
> https://code.ros.org/trac/ros-pkg/ticket/4123
>
> Josh
>
>
> On Tue, May 25, 2010 at 1:45 AM, Jan Elseberg
> <j.elseberg@jacobs-university.de
> <mailto:j.elseberg@jacobs-university.de>> wrote:
>
> Hi,
>
> I uploaded a short bag.file of the robot. You can get it under
> http://plum.eecs.jacobs-university.de/exchange/volksbot.bag .
> There's also
> http://plum.eecs.jacobs-university.de/exchange/only_laser.bag
> where only
> the laser topic (/volksbotRT/LMS) and /tf is recorded. If you need
> anything else, please let me know.
>
> Jan.
>
> Josh Faust wrote:
> > Can you post a bag file with /tf and the laser scan topic
> somewhere?
> >
> > Josh
> >
> > On Fri, May 21, 2010 at 5:21 AM, Jan Elseberg
> > <j.elseberg@jacobs-university.de
> <mailto:j.elseberg@jacobs-university.de>
> > <mailto:j.elseberg@jacobs-university.de
> <mailto:j.elseberg@jacobs-university.de>>> wrote:
> >
> > Wim,
> >
> > I have played around with the timestamps of the laser
> scan message.
> > Neither increasing nor decreasing
> > the timestamp changes the behaviour, except that for
> large enough
> > offsets either of the following errors
> > is produced:
> >
> > For frame [/front_laser]: No transform to fixed frame
> > [/base_link]. TF
> > error: [You requested a transform that
> > is 2.637 miliseconds in the past, but the most recent
> transform in the
> > tf buffer is 8.092 miliseconds old.]
> >
> > For frame [/front_laser]: No transform to fixed frame
> > [/base_link]. TF
> > error: [You requested a transform that
> > is 3.212 seconds in the past, but the tf buffer only has
> a history of
> > 3.138 seconds.]
> >
> > I have also changed the publishing frequency of the
> laser scan
> > messages
> > to 5 Hz. Unfortunately, this also had
> > no effect on the error.
> >
> > Jan
> >
> >
> > Wim Meeussen wrote:
> > > Jan,
> > >
> > > When rviz receives laser scan messages, it only keeps
> the 10 most
> > > recent messages in a buffer. So, if you send
> laserscans at 50 Hz (it
> > > looks like that's the rate you use), that means rviz
> only stores 0.2
> > > seconds worth of laser scans. So when your laser scans
> are more than
> > > 0.2 seconds ahead of your tf transforms, rviz would be
> unable to
> > > transform any laser scans. To find out if this is the
> problem
> > you hare
> > > seeing, you should modify the timestamps of your laser
> scan
> > messages,
> > > by deducting something like 1 second from each
> timestamp before
> > > sending out the message from the laser scanner driver.
> Or you could
> > > create a node that takes in laser scanner messages,
> modifies the
> > > timestamp, and send out the modified laser scans.
> > >
> > > Wim
> > >
> > >
> > > On Thu, May 20, 2010 at 9:33 AM, Jan Elseberg
> > > <j.elseberg@jacobs-university.de
> <mailto:j.elseberg@jacobs-university.de>
> > <mailto:j.elseberg@jacobs-university.de
> <mailto:j.elseberg@jacobs-university.de>>> wrote:
> > >
> > >> Hi,
> > >>
> > >> the issue occurs when using rviz on a seperate computer
> > (synchronized to the
> > >> robot with ntp) as well as when used only on the
> robot. The
> > tf-tree of rviz
> > >> is attached, it is the same as before.
> > >>
> > >> Jan
> > >>
> > >> Tully Foote wrote:
> > >>
> > >>> Jan, Are you running rviz on a seperate machine? If
> so make
> > sure that the
> > >>> clocks are synced using ntp or similar between the
> multiple
> > machines.
> > >>> To see the tf tree that rviz is using try running
> "view_frames
> > >>> --node=rviz_******" where ******* is the UUID of the
> anonymous
> > rviz process
> > >>> which you can get from rosnode list.
> > >>> Tully
> > >>>
> > >>> On Thu, May 20, 2010 at 9:19 AM, Jan Elseberg
> > >>> <j.elseberg@jacobs-university.de
> <mailto:j.elseberg@jacobs-university.de>
> > <mailto:j.elseberg@jacobs-university.de
> <mailto:j.elseberg@jacobs-university.de>>
> > <mailto:j.elseberg@jacobs-university.de
> <mailto:j.elseberg@jacobs-university.de>
> > <mailto:j.elseberg@jacobs-university.de
> <mailto:j.elseberg@jacobs-university.de>>>>
> > >>> wrote:
> > >>>
> > >>> Wim,
> > >>>
> > >>> the timestamps of the laser scans are concurrent
> to the
> > ones I'm
> > >>> getting
> > >>> with "rostopic echo /tf".
> > >>> I was under the impression that tf would give me
> an error
> > of some kind
> > >>> in this scenario ?
> > >>> Also, if the issue lies with my tf-tree,
> shouldn't there be
> > similar
> > >>> problems in my node
> > >>> that transforms the laser scans into the /map
> frame using the
> > >>> tf::TransformListener ?
> > >>>
> > >>> Regards,
> > >>>
> > >>> Jan
> > >>>
> > >>>
> > >>>
> > >>> Wim Meeussen wrote:
> > >>> > Jan,
> > >>> >
> > >>> > Your tf tree looks fine, but it is possible
> that the
> > timestamps of
> > >>> > your laser scans are wrong. Your tf buffer keeps a
> > 10-seconds window
> > >>> > of transformations. When the timestamp of your
> laser scan
> > does
> > >>> not fit
> > >>> > in that 10 seconds window, tf won't be able to
> transform it.
> > >>> From the
> > >>> > data you sent, it looks like your tf buffer is
> nicely
> > synchronized
> > >>> > with the current time in your system, so I
> would suspect
> > that your
> > >>> > laser scans have timestamps that are either
> more than 10
> > seconds in
> > >>> > the past, or some number of seconds in the future.
> > >>> >
> > >>> > You can check the timestamp of your laser scans
> using
> > "rostopic echo
> > >>> > laser_scan/header/stamp".
> > >>> >
> > >>> > Wim
> > >>> >
> > >>> >
> > >>> >
> > >>> >
> > >>> >> I've attached the results of view_frames. I
> have also
> > tried the
> > >>> other stuff
> > >>> >> on the troubleshooting guide. Transformations
> between
> > the laser
> > >>> frame and
> > >>> >> every other frame work fine. Across the
> longest tf-chain
> > >>> (/front_laser to
> > >>> >> /map) the average delay is approx 25ms and the
> maximal
> > delay is
> > >>> approx.
> > >>> >> 55ms. From this it appears to me that the
> tf-tree is
> > correctly
> > >>> set up, but
> > >>> >> maybe there is something else I can check?
> > >>> >>
> > >>> >> Regards,
> > >>> >>
> > >>> >> Jan Elseberg
> > >>> >> Eitan Marder-Eppstein wrote:
> > >>> >>
> > >>> >>> Jan,
> > >>> >>>
> > >>> >>> It sounds like something may be wrong with
> your transform
> > >>> tree. Can you
> > >>> >>> try running "rosrun tf view_frames"? This
> will generate
> > a PDF
> > >>> of the current
> > >>> >>> transform tree structure. You may also want
> to check the
> > >>> troubleshooting
> > >>> >>> link on the sidebar of this page: http://www
> > .ros.org/wiki/tf <http://ros.org/wiki/tf>
> <http://ros.org/wiki/tf>
> > >>> <http://ros.org/wiki/tf>
> > >>> >>> <http://ros.org/wiki/tf> for more information
> on useful tf
> > >>> debugging
> > >>> >>> strategies.
> > >>> >>>
> > >>> >>> Hope this helps,
> > >>> >>>
> > >>> >>> Eitan
> > >>> >>>
> > >>> >>>
> > >>> >>>> On May 20, 2010 3:38 AM, "Jan Elseberg"
> > >>> <j.elseberg@jacobs-university.de
> <mailto:j.elseberg@jacobs-university.de>
> > <mailto:j.elseberg@jacobs-university.de
> <mailto:j.elseberg@jacobs-university.de>>
> > >>> <mailto:j.elseberg@jacobs-university.de
> <mailto:j.elseberg@jacobs-university.de>
> > <mailto:j.elseberg@jacobs-university.de
> <mailto:j.elseberg@jacobs-university.de>>>
> > >>> >>>> <mailto:j.elseberg@jacobs-university.de
> <mailto:j.elseberg@jacobs-university.de>
> > <mailto:j.elseberg@jacobs-university.de
> <mailto:j.elseberg@jacobs-university.de>>
> > >>> <mailto:j.elseberg@jacobs-university.de
> <mailto:j.elseberg@jacobs-university.de>
> > <mailto:j.elseberg@jacobs-university.de
> <mailto:j.elseberg@jacobs-university.de>>>>> wrote:
> > >>> >>>>
> > >>> >>>> Hi everyone,
> > >>> >>>>
> > >>> >>>> I am trying to get our robot to work with
> the navigation
> > >>> stack of ros.
> > >>> >>>> I've been following the tutorial on
> > >>> >>>>
> http://www.ros.org/wiki/navigation/Tutorials/RobotSetup .
> > >>> After setting
> > >>> >>>> up the robot with a tf-tree and sensor nodes
> , I have
> > noticed
> > >>> a problem
> > >>> >>>> with rviz. I am unable to display the laserscan
> > messages in
> > >>> any frame
> > >>> >>>> other than the laser coordinate system
> itself, i.e.,
> > whenever
> > >>> I select a
> > >>> >>>> <Fixed_Frame> other than /front_laser the
> status of
> > the laser
> > >>> scan
> > >>> >>>> display shows the error:
> > >>> >>>>
> > >>> >>>> "Unknown reason for transform failure".
> > >>> >>>>
> > >>> >>>> Also, this warning appears in the bash:
> > >>> >>>>
> > >>> >>>> [WARN] 1274341043.701801000: MessageFilter
> > [target=/base_link
> > >>> ]: Dropped
> > >>> >>>> 99.03% of messages so far. Please turn the
> > >>> [ros.rviz.message_notifier]
> > >>> >>>> rosconsole logger to DEBUG for more information.
> > >>> >>>>
> > >>> >>>> Doing so gives me these repeating debug
> messages:
> > >>> >>>>
> > >>> >>>> MessageFilter [target=/base_link ]: Added
> message in frame
> > >>> /front_laser
> > >>> >>>> at time 1274341252.994, count now 10
> > >>> >>>> MessageFilter [target=/base_link ]: Removed
> oldest message
> > >>> because
> > >>> >>>> buffer is full, count now 10
> (frame_id=/front_laser,
> > >>> >>>> stamp=1274341252.813649).
> > >>> >>>>
> > >>> >>>> This suggests a problem with the tf-tree to me.
> > However, when
> > >>> using the
> > >>> >>>> "transformPoint(...)" function of
> > tf::TransformListener in my
> > >>> own nodes
> > >>> >>>> to transform the laser scan into the global
> frame
> > everything
> > >>> works as
> > >>> >>>> intended with no errors/warnings.
> > >>> >>>>
> > >>> >>>> Does someone have an idea what I am doing wrong?
> > >>> >>>>
> > >>> >>>> Thank you for any help!
> > >>> >>>>
> > >>> >>>>
> > >>> >>>> Jan Elseberg
> > >>> >>>>
> > >>> >>>> _______________________________________________
> > >>> >>>> ros-users mailing list
> > >>> >>>> ros-users@code.ros.org
> <mailto:ros-users@code.ros.org> <mailto:ros-users@code.ros.org
> <mailto:ros-users@code.ros.org>>
> > <mailto:ros-users@code.ros.org
> <mailto:ros-users@code.ros.org> <mailto:ros-users@code.ros.org
> <mailto:ros-users@code.ros.org>>>
> > >>> <mailto:ros-users@code.ros.org
> <mailto:ros-users@code.ros.org>
> > <mailto:ros-users@code.ros.org
> <mailto:ros-users@code.ros.org>>
> <mailto:ros-users@code.ros.org <mailto:ros-users@code.ros.org>
> > <mailto:ros-users@code.ros.org
> <mailto:ros-users@code.ros.org>>>>
> > >>> >>>> https://code.ros.org/mailman/listinfo/ros-users
> > >>> >>>>
> > >>> >> _______________________________________________
> > >>> >> ros-users mailing list
> > >>> >> ros-users@code.ros.org
> <mailto:ros-users@code.ros.org> <mailto:ros-users@code.ros.org
> <mailto:ros-users@code.ros.org>>
> > <mailto:ros-users@code.ros.org
> <mailto:ros-users@code.ros.org> <mailto:ros-users@code.ros.org
> <mailto:ros-users@code.ros.org>>>
> > >>> >> https://code.ros.org/mailman/listinfo/ros-users
> > >>> >>
> > >>> >>
> > >>> >>
> > >>> >
> > >>> >
> > >>> >
> > >>> >
> > >>>
> > >>> _______________________________________________
> > >>> ros-users mailing list
> > >>> ros-users@code.ros.org
> <mailto:ros-users@code.ros.org> <mailto:ros-users@code.ros.org
> <mailto:ros-users@code.ros.org>>
> > <mailto:ros-users@code.ros.org
> <mailto:ros-users@code.ros.org> <mailto:ros-users@code.ros.org
> <mailto:ros-users@code.ros.org>>>
> > >>> https://code.ros.org/mailman/listinfo/ros-users
> > >>>
> > >>>
> > >>>
> > >>>
> > >>> --
> > >>> Tully Foote
> > >>> Systems Engineer
> > >>> Willow Garage, Inc.
> > >>> tfoote@willowgarage.com
> <mailto:tfoote@willowgarage.com>
> <mailto:tfoote@willowgarage.com <mailto:tfoote@willowgarage.com>>
> > <mailto:tfoote@willowgarage.com
> <mailto:tfoote@willowgarage.com>
> <mailto:tfoote@willowgarage.com <mailto:tfoote@willowgarage.com>>>
> > >>> (650) 475-2827
> > >>>
> > >> _______________________________________________
> > >> ros-users mailing list
> > >> ros-users@code.ros.org
> <mailto:ros-users@code.ros.org> <mailto:ros-users@code.ros.org
> <mailto:ros-users@code.ros.org>>
> > >> https://code.ros.org/mailman/listinfo/ros-users
> > >>
> > >>
> > >>
> > >
> > >
> > >
> > >
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users@code.ros.org <mailto:ros-users@code.ros.org>
> <mailto:ros-users@code.ros.org <mailto:ros-users@code.ros.org>>
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> >
>
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org <mailto:ros-users@code.ros.org>
> https://code.ros.org/mailman/listinfo/ros-users
>
>
>
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> https://code.ros.org/mailman/listinfo/ros-users
>
>
>
>
> --
> Tully Foote
> Systems Engineer
> Willow Garage, Inc.
> tfoote@willowgarage.com <mailto:tfoote@willowgarage.com>
> (650) 475-2827
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