[ros-users] Issues with rviz

Wim Meeussen meeussen at willowgarage.com
Thu May 20 15:56:29 UTC 2010


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


> 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> for more information on useful tf debugging
>> strategies.
>> Hope this helps,
>> Eitan
>>> On May 20, 2010 3:38 AM, "Jan Elseberg" <j.elseberg at jacobs-university.de
>>> <mailto:j.elseberg at 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
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Wim Meeussen
Willow Garage Inc.

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