[ros-users] Issues with rviz

[Tully Foote]

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 at 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> 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
> >>>>
> >>>> _______________________________________________
> >>>> ros-users mailing list
> >>>> ros-users at code.ros.org <mailto:ros-users at code.ros.org>
> >>>> https://code.ros.org/mailman/listinfo/ros-users
> >>>>
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> >>
> >>
> >>
> >
> >
> >
> >
>
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-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827
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