[ros-users] Issues with rviz
Jan Elseberg
j.elseberg at jacobs-university.de
Thu May 20 16:33:43 UTC 2010
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 at jacobs-university.de
> <mailto: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>
> >>> <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>
> >>>> <mailto: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>
> <mailto: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 <mailto:tfoote at willowgarage.com>
> (650) 475-2827
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