Can see data on every topic. Not the answer you're looking for? The "Motion Module failure" message persists, but this does display the data! Asking for help, clarification, or responding to other answers. In the linked guide, the user builds v2.38.1 which would require me to build v3.1.1 of the ros wrapper, which would also require using an eol version of ros2 and an OS downgrade. ros2 launch slam_toolbox online_async_launch.py . Rather than a full robot I was strictly working with a SLAMTech RPLidar A1M8 LIDAR sensor. Adding it to the tf-broadcaster gave me seconds and nanoseconds in the transform message and the slam was working. Here starts the problems: The terminal is spamming these: [1641398181.499569062] [slam_toolbox]: Message Filter dropping message: frame 'camera_depth_frame' at time 1641398181.448 for reason 'discarding message because the queue is full' https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i. I'm using slam_toolbox default configuration (online_async), only remapping the robot's base frame to base_link. confusion between a half wave and a centre tapped full wave rectifier, Arbitrary shape cut into triangles and packed into rectangle of the same area. By clicking Accept all cookies, you agree Stack Exchange can store cookies on your device and disclose information in accordance with our Cookie Policy. [realsense2_camera_node-1] 23/06 13:53:29,091 WARNING [281471730301344] (backend-hid.cpp:715) HID set_power 1 failed for /sys/devices/platform/3610000.xhci/usb2/2-3/2-3.1/2-3.1:1.7/0003:8086:0B64.000D/HID-SENSOR-200073.2.auto/iio:device0/buffer/enable. I hope this is well explained. privacy statement. [localization_slam_toolbox_node-1] [INFO] [1669298864.285423435] [slam_toolbox]: Message Filter dropping message: frame 'lidar_1' at time 1669298864.243 for reason 'Unknown' I've been trying to investigate about my problem but without getting any clue. Thank you. the rs-motion demo was functioning just fine on my previous build, but I wasn't able to get imu data inside a node or in the realsense-viewer. Message Filter dropping message: frame 'scan' for reason 'Unknown'. where and how did you add the missing timestamp.) That causes me to receive the same output from the slam_toolbox terminal, however the messages seem to appear at a slightly different time interval than they did in the past: My Camera node terminal displays the following: I've found a potentially related issue regarding the transform tree, but I'm not totally sure how to implement the same fix as this user did: https://answers.ros.org/question/357762/slam_toolbox-message-filter-dropping-message/. Noting that the documentation for slam_toolbox refers to ROS2 Eloquent but not the Foxy version that you are using, I wondered whether the issue may be related to Foxy. Melodic #326 Noetic #325 The IMU of a RealSense camera can function in the realsense-viewer tool and rs-motion without having to be calibrated first. @MartyG-RealSense I do have access to an L515 as well. I want to use slam_toolbox and visualize data from the lidar like it can be done in cartographer. Hello. My build has not been successful, and I have been unable to find a workaround or anyone with a similar setup of the Jetson Xavier NX with Jetpack 5.01 (Ubuntu 20.04). This post didn't solve my problems completely, but it did lead me to the proper solution so I figure I'll leave my 2-cents for the next person seeking a solution. Thanks for all your help! Hello, I am consulting this reddit as I keep receiving this message on my terminal while running the slam toolbox, and i do not see any map updates. There was also a case of ROS Motion Module Failure at #1960 (comment) where the cause of the failure may have been related to doing a rosbag record of a lot of topics, as reducing the number of topics being recorded apparently solved the error. message_filters is a utility library for use with roscpp and rospy. Do you have any ideas as to why that might be? I tried using the -DFORCE_RSUSB_BACKEND=true flag, and I got the same error. running top shows that the realsense2_camera node is at ~80% cpu usage, and no other nodes take up a significant amount. I am trying to start mapping with slam_toolbox. If you have exhausted all of your ideas as to what the issue may be, we may have to chalk it up to the system running on the unsupported JetPack 5 and search for alternative solutions, if need be. That user was using the robot_localization package, which Intel's own D435i SLAM guide also makes use of. Are you performing any recording? Note that rs-motion does work as intended. I thought it could be a transform problem so I checked the transform in rviz2 but it seems fine as well (see image), the full tree for the transforms is shown and on I hid all the transforms except base_scan and map, which shows that the transform exists. I'll look into this, as I am receiving warnings from RVIZ. Then I expect to view visualization in rviz2. A message filter is defined as something which a message arrives into and may or may not be spit back out of at a later point in time. Your results make sense. Why do quantum objects slow down when volume increases? Sorry, my mistake To subscribe to this RSS feed, copy and paste this URL into your RSS reader. I was simply trying to feed data from that sensor to slam_toolbox, and to view it in RViz. I was unsure which setting the user altered in the link that you shared. otherwise I will likely move forward with investing in some encoders for wheel odometry and close the issue. A Motion Module Failure notification in the Viewer does not prevent the IMU data from working normally, but it can make the IMU topics in the ROS wrapper fail to provide data. The Slam Toolbox package incorporates information from laser scanners in the form of a LaserScan message and TF transforms from odom->base link, and creates a map 2D map of a space. Hi all, I'm facing a problem using the slam_toolbox package in localization mode with a custom robot running ROS2 Foxy with Ubuntu 20.04 I've been looking a lot about how slam and navigation by following the tutorials on Nav2 and turtlebot in order to integrate slam_toolbox in my custom robot. [INFO] [1669964397.645647011] [rviz2]: Message Filter dropping message: frame 'map' at time 1669964382.642 for reason 'discarding message because the queue is full' [async_slam_toolbox_node-1] [INFO] [1669950284.306803018] [slam_toolbox]: Message Filter dropping message: frame 'lidar_link' at . There was also a case of ROS Motion Module Failure at #1960 (comment) where the cause of the failure may have been related to doing a rosbag record of a lot of topics, as reducing the number of topics being recorded apparently solved the error. The Viewer's log can be expanded open by left-clicking on the small upward triangle at the bottom corner of the Viewer window. If calibrating the imu is the only way to get it functioning within ros, then I will follow the linked guide or use an external imu, but I'd like to avoid making too many changes to my current setup if possible. Thank you for your continued support! Stack Overflow. Also, have you tried accessing the IMU topics without slam_toolbox and depthimage_to_laserscan being active? In console with slam_toolbox I got only following warning: [sync_slam_toolbox_node-1] [INFO] [1661430634.973317229] [slam_toolbox]: Message Filter dropping message: frame 'cloud' at time 1650563651.362 for reason 'discarding message because the queue is full'. This user's situation appears to be slightly different as they did have some messages being published to the /map topic, whereas none are being published in my setup. Ready to optimize your JavaScript with Rust? (i.e having the ROS wrapper running on its own). Hi @MartyG-RealSense. This support was added in the current 2.50.0 librealsense SDK. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. Have a question about this project? I receive message. When I launch the cartographer via: Sign in Thanks. These are the only available parameters relating depth in rqt. IMU information is not displayed in this mode. The only ROS2 SLAM guide for RealSense (not L515 specifically) and depthimage_to_laserscan that I could find is this one: https://yechun1.github.io/robot_devkit/rs_for_slam_nav/. Long term Objective: Provide gps co-ordinates as goal / way points and autonomously navigate robot to the destination with the help of Nav2 stack by using slam_toolbox In Rviz my TF looks clean, instead of map with the warning: No transform from [map] to [base_link]. But this may be still be due to my tf tree. The text was updated successfully, but these errors were encountered: Hi @RNorlie At the ROS Answers link below there was another person with a Jetson Xavier NX who experienced the Message Filter dropping message: frame 'camera_depth_frame' warning with a RealSense D455 camera, the SLAM Toolbox and depth_image_to_laserscan. In essence TagSLAM is a front-end to the GTSAM optimizer which makes it easy to use AprilTags for visual SLAM. So I could not rule out that the ROS problem with IMU data is related to use of JetPack 5. Are there any warning / error messages in the log when you enable the Motion Module in the Viewer? Already on GitHub? Some RealSense users use a tool called Kalibr for IMU calibration. There is an installation guide provided by a RealSense user at IntelRealSense/librealsense#6964 (comment) that was designed for Jetson Nano but was confirmed by the guide's author to work on Xavier NX too. Last Updated: 2021-11-17 I'm pretty new to ROS2, so I have been trying to do simple mapping with a turtlebot3 using slam toolbox. How is Jesus God when he sits at the right hand of the true God? Unless I am supposed to configure something outside of the node, I'm not sure what would accomplish this. Adding it got the slam working ! Thank you for helping me get this far! Thanks for contributing an answer to Stack Overflow! I want to use SLAM Toolbox (https://github.com/SteveMacenski/slam_toolbox) but I get a WARNING: No map received in RVIZ. Connect and share knowledge within a single location that is structured and easy to search. Thank you so much for all your research and suggestions. [sync_slam_toolbox_node-1] [INFO] [1661430634.973317229] [slam_toolbox]: Message Filter dropping message: frame 'cloud' at time 1650563651.362 for reason 'discarding message because the queue is full' Questions Should I be receiving a map or have I missed something? My Odom msg is published by the wheels with frame_id: odom and child_frame_id: base_footprint. As neither yourself or the case that I linked to directly mention the RealSense ROS wrapper, may I confirm whether your /camera/depth/image_rect_raw topic is being published by the ROS wrapper by using a launch instruction such as roslaunch realsense2_camera rs_camera.launch. @Shneider1m7 did you figure out what was the issue? Hi @MartyG-RealSense, I've been experimenting with the robot_localization package. The Construct ROS Community Map is frozen + " [rviz2]: Message Filter dropping message. I didn't get what you did. Counterexamples to differentiation under integral sign, revisited. I also note that you were not able to display IMU data in realsense-viewer. If so, are there any third-party calibration tools that I could use that don't require pyrealsense2? https://navigation.ros.org/setup_guides/odom/setup_odom.html. Does illicit payments qualify as transaction costs? To understand why I needed to do this I went through Link [2] which led to Link [3]. Robot is Clearpath husky with Velodyne VLP-16 lidar, IMU and GPS sensor in gazebo. Is there any difference if you add enable_sync:=true to your ros launch instruction? This support was added in the current 2.50.0 librealsense SDK. Thank you for helping me reach full functionality with my realsense cameras. https://github.com/SteveMacenski/slam_toolbox. Warning, transforms and rqt graph follows: odom->base_footprint was static transform, now it is set properly. https://answers.ros.org/question/393773/slam-toolbox-message-filter-dropping-message-for-reason-discarding-message-because-the-queue-is-full/. The only real obstacle was understanding the similarities between ROS1 and ROS2, both of which I'm still very new to at time of writing. I'm attempting to run slam_toolbox with my D435i using depthimage_to_laserscan as a bridge for the data. Good luck! Message Filter dropping message: frame 'scan' for reason 'Unknown' #491 Closed maksimmasalski opened this issue on Apr 27 maksimmasalski commented on Apr 27 Operating System: Ubuntu 20.04.4 LTS (Focal Fossa) Installation type: Cloned slam-toolbox repo, switched to foxy-devel branch ROS Version ROS2 foxy Laser unit: Sign in I was also trying to get this to work with ROS2 as opposed to ROS1. slam-toolbox for mapping and running everything off of a Raspberry Pi 4 4GB with Ubuntu Mate Currently, I am able to get LIDAR readings to successfully be viewed in RVIZ. I am facing the same problem right now. In their case though, the reason given was 'discarding message because the queue is full' instead of 'unknown'. Got it. The transform from odom to base_footprint (wheel_odometry frame_id to child_frame_id) was missing the header.stamp part. I do not see any data when I echo /camera/imu with the different unite_imu_method settings nor /camera/gyro/imu_info and /camera/accel/imu_info when I omit unite_imu_method. If you are using a RealSense ROS wrapper launch to publish the depth topic then the depth stream FPS could be custom-configured from the roslaunch instruction or by editing the launch file. If calibration is not the sole reason imu data is not being published in ros, how else might I troubleshoot to get data published? Is there any other way to get the imu on the D435i functioning without jumping through all these other hoops? I can also get one or two frames of a map to be built. Already on GitHub? CGAC2022 Day 10: Help Santa sort presents! The text was updated successfully, but these errors were encountered: You need real odometry, but in general please look at ros answers, unfortunately I don't have the bandwidth to help fix folks' individual configuration issues. Using tf2 to generate a permanent map transform, Slam_toolbox message filter dropping message, https://docs.ros.org/en/foxy/Tutorials/tf2.html, https://wiki.ros.org/navigation/Tutorials/RobotSetup, https://wiki.ros.org/navigation/Tutorials/RobotSetup/TF, https://www.robotandchisel.com/2020/08/19/slam-in-ros2/, Creative Commons Attribution Share Alike 3.0. It collects commonly used message "filtering" algorithms into a common space. Let me know if you can make it happen then. I use the robot state publisher to publish the transform between the base footprint and the rest of the robot. The user in that case found that setting the RealSense ROS wrapper to 15 FPS instead of 30 (I assume that it was the depth FPS that was configured) reduced the frequency of the warning but did not eliminate it entirely. When the robot starts to move, the lidar readings update, but the map itself does not. Running ros2 topic echo /camera/depth/image_rect_raw confirms that the node is indeed publishing data to the topic. All run on the same machine for now. If you have seen any promising applications, let me know! If you need any more information just let me know and i will update the question. My understanding is that robot_localization is one way in which the odom can be published. using ros2 topic echo /camera/imu reveals that no odometry data is being published. By clicking Sign up for GitHub, you agree to our terms of service and Hello @MartyG-RealSense I have looked into the warning: [WARN] [1655843318.093144103] [slam_toolbox]: Failed to compute odom pose. rev2022.12.11.43106. I have not been able to create an So we have lidar topic /scan, slam_toolbox subscribes on it. SLAM algorithm implementation in C++ that's compatible with windows? slam _ toolbox . Are you performing any recording? The node publishes correct messages when I check with ros2 topic echo scan but it fails to get them sh. By clicking Sign up for GitHub, you agree to our terms of service and Where and how do SLAM algorithms keep a map? [1625892725.336256970] [rviz]: Message Filter dropping message: frame 'laser_frame' at time 1625892723.515 for reason 'Unknown' . Slam Toolbox "Message Filter dropping message". https://github.com/SteveMacenski/slam_toolbox, A Foxy user of slam_toolbox who was dropping messages found that a solution that worked for them was to set the time with the command sudo date -s$(date -Ins), https://www.reddit.com/r/ROS/comments/tth202/ros2_foxy_issues_with_using_slam_toolbox_to_map/. odom->base_link transform other than by publishing my own via a static_tf_publisher. Sorry if I'm necro-ing an old post, but I stumbled-upon this same error when getting started with ROS2 (as a complete newbie) and this and the OP's link to the SLAM Toolbox github issues page are literally the only places online mentioning this error message. I looked to calibrate the imu, as I have not done that yet, but I was unable to run the calibration script as I did not install librealsense with pyrealsense2. I am looking into utilizing wheel odometry later on and simulating my own odometry in gazebo for now, but I was curious if there were any alternatives to this as well, perhaps using the LiDAR from the L515. I'm still receiving the same slam_toolbox error even after setting the date : [sync_slam_toolbox_node-1] [INFO] [1656359973.404130764] [slam_toolbox]: Message Filter dropping message: frame 'camera_depth_frame' at time 1656359973.404 for reason 'Unknown'. Is calibrating the imu required to get it functioning in ros? By the way, I notice in your -DFORCE_RSUSB_BACKEND:=false instruction that you have put a colon - : - before the equals sign. Setup details: ROS2 foxy on amd64 architecture CPU with nav2 and slam_toolbox installed. As mentioned above though, a calibration is not required in order for IMU data to be displayed in realsense-viewer or rs-motion. This package contains a base class upon which to build specific implementations as well as an interface which dynamically loads filters based on runtime parameters. may I confirm whether your /camera/depth/image_rect_raw topic is being published by the ROS wrapper by using a launch instruction such as roslaunch realsense2_camera rs_camera.launch, Yes, I am launching the node using the instruction: ros2 launch realsense2_camera rs_launch.py enable_gyro:=true enable_accel:=true initial_reset:=true &. SteveMacenski/filters: This library provides a standardized interface for processing data as a sequence of filters. It's excellent news that you were able to receive data from the /imu topic after adjusting the unite_imu_method setting! slam-toolbox for mapping and running everything off of a Raspberry Pi 4. When I try to run the camera, depthimage_to_laserscan, and slam_toolbox nodes with this device, I receive the same message as I did with the D435i: I suspect there is a simple fix to this issue, but I'm not familiar enough with ros2 or these devices. Find centralized, trusted content and collaborate around the technologies you use most. Thanks very much for the further information. [sync_slam_toolbox_node-1] [INFO] [1655749660.269013418] [slam_toolbox]: Message Filter dropping message: frame 'camera_depth_frame' at time 1655749660.222 for reason 'Unknown' I'm unsure if I need to tweak some of the parameters within the realsense node, or the toolbox node. (Ubuntu 18.04 with Eloquent) A RealSense team member advises a ROS-using D435i owner at IntelRealSense/librealsense#5901 who was experiencing the (backend-hid.cpp:715) HID set_power 1 failed message that it is for information only and can be ignored if there is not the problem of no IMU data. Running on ROS2 Foxy Ubuntu 20.04, Edit: It is a real turtlebot and the config in the slam_toolbox has been set to the correct laser scan topic, I also got the error [async_slam_toolbox_node-6] [INFO] [1648794803.312563889] [slam_toolbox]: Message Filter dropping message: frame 'base_scan' at time 1646640633.933 for reason 'Unknown' from slam toolbox. Hi, This is a ROS2/message filter-TF warning, not something from slam toolbox. I modified launch file of lidar scanner, like this was described in this ros forum. It may relate to the bridge, it may not, but I can say I don't use it and I haven't seen this before in this project. Please. I will continue researching and testing with the robot_localization package, and report back how well it works. When building from source on Jetson I would recommend using -DFORCE_RSUSB_BACKEND=true to build librealsense with the RSUSB backend, which is not dependent on Linux versions or kernel versions and does not require patching. Hey @pfedom I'm facing a similar problem when i launch slam toolbox online sync, I got "no map received warning" in rviz and "[rivz]: Message Filter dropping message: frame 'base_scan' at time 1594996830.893 for reason 'Unknown' " Good luck! The RealSense user in that case did report though that they had to repeat the unplug-replug each time that they started a new roslaunch. I would like to know if anyone had succeded to integrate and use slam_toolbox localization . MRPT SLAM MRPT::slam::CMetricMapBuilderICP warning Pose Extrapolation failed, How to use/reuse the map generated in visual SLAM. ros2 launch nav2_bringup navigation_launch.py [controller_server-1] [INFO] [1646771670.720067917] [local_costmap.local_costmap_rclcpp_node]: Message Filter dropping message: frame 'laser' at time 1646771670.173 for reason 'the timestamp on the message is earlier than all the data in the transform cache' Is it correct to say "The glue on the back of the sticker is dying down so I can not stick the sticker to the wall"? Well occasionally send you account related emails. I am using slam-toolbox for mapping and nav2 for navigating. How do I arrange multiple quotations (each with multiple lines) vertically (with a line through the center) so that they're side-by-side? ROS2 DasingROS2 SLAM cartographer Eloquent slam _ toolbox SLAM .. I will have to look into that third-party tool! I created static transform publishers as per Link [1] below. One weird thing is that, when I set my fixed frame to base_link, base_footprint or base_scan on my rviz2, I can see the laserscan but when it is set to odom or map, I cannot see the laserscan. Once I understood how ROS2 launch files work I was able to follow Link [4] to get SLAM Toolbox working with RViz and to develop a simple launch file for a custom "launch everything" package. I receive the following error after inputting: cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true -DBUILD_WITH_CUDA=true -DFORCE_RSUSB_BACKEND:=false -DBUILD_PYTHON_BINDINGS:bool=true. This package will allow you to fully serialize the data and pose-graph of the SLAM map to be reloaded to continue mapping, localize, merge, or otherwise manipulate. Browse other questions tagged, Where developers & technologists share private knowledge with coworkers, Reach developers & technologists worldwide, Your answer could be improved with additional supporting information. I am trying to start mapping with slam_toolbox. No map received SLAM Toolbox. For more technical details, have a look at this draft paper. I may open a new issue later if I find that I also need the D435i imu functioning, but with the L515 imu working, I don't suspect that will be a problem. Are the S&P 500 and Dow Jones Industrial Average securities? to your account. Hi @MartyG-RealSense, thanks for your response! Thanks in advance. Are you aware of any implementations of the L515 to obtain odometry within ROS2? Thanks to u/ever_luke for their help! Going back to your use of JetPack 5 for its Ubuntu 20.04 support, the most recently supported JetPack in the RealSense SDK is L4T 32.6.1 (JetPack 4.6). My odometry transform was missing the timestamp. Can anybody tell me what I'm doing wrong? [rviz2-7] [INFO] [1648782355.269898309] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1646639543.378 for reason 'Unknown'. I run it by default on one terminal window using command, Then in another terminal window I run slam_toolbox using command. Adding a bit more details with regards to your solution would be helpful for future viewers. Hello @MartyG-RealSense, thanks for your reply. . I think it is a rootcause. If you need more information just comment again please. I don't know if this is important but just to have everything in: I am filtering my lasermessage with an own node so it produces only 180 scan instead of 270. Why does the USA not have a constitutional court? Currently, I am able to get LIDAR readings to successfully be viewed in RVIZ. This camera does not have the Motion Module Failure message, but it does display this message upon launching the node. Going back to your use of JetPack 5 for its Ubuntu 20.04 support, the most recently supported JetPack in the RealSense SDK is L4T 32.6.1 (JetPack 4.6). Have a question about this project? I have not seen many examples, and those that I have noticed are for ROS1 only: SSL SLAM. slam-toolbox does the transform from map -> odom the iRobot Create node has other transforms from base_link to wheels, bumpers, etc and it also publishes odom data using tf2, i'm publishing a. In the config file, I define base_frame as, I publish Odometry (without velocities, just position) to topic /odom, I provide transform: So the imu is functioning in the viewer and rs-motion, but I am still unable to echo the data from a ros topic. This does not resolve the error message from slam_toolbox, as I am still not providing any odometry data. Take the dataset and show that you can make it happen in some way relatively consistently Take the dataset and run it again except this time, use a laser filter on the RP lidars data to make it look like a 270 degree laser, and give that filtered output to slam toolbox. Could not providing a transform for the scanner frame be the issue? Making statements based on opinion; back them up with references or personal experience. One other small fix I noticed was this warning in my camera_node startup: realsense2_camera_node-1] [WARN] [1656085968.770364262] [camera.camera]: Could not set param: unite_imu_method with 0 Range: [0, 2]: parameter 'unite_imu_method' has invalid type: expected [integer] got [string]. odom->base_footprint. Edit: Solved! Please assist. To see the IMU data you should click on the '2D' option. IntelRealSense/librealsense#6964 (comment). In rviz2 I can see topics /slam_toolbox/scan_visualization But it doesn't visualize lidar data in rviz. ros2 launch slam_toolbox online_sync_launch.py, In rviz I add /map topic, no map received. I can also get one or two frames of a map to be built. Should I be receiving a map or have I missed something? [1] https://docs.ros.org/en/foxy/Tutorials/tf2.html, [2] https://wiki.ros.org/navigation/Tutorials/RobotSetup, [3] https://wiki.ros.org/navigation/Tutorials/RobotSetup/TF, [4] https://www.robotandchisel.com/2020/08/19/slam-in-ros2/. As an update, I have modified the tf tree to resolve the rviz warnings, and I am now receiving a different output from my slam_toolbox terminal: Thanks very much @RNorlie for your update. (e.g. You signed in with another tab or window. https://www.sick.com/cz/en/safety-laser-scanners/safety-laser-scanners/nanoscan3/c/g507056, https://github.com/SICKAG/sick_safetyscanners2, https://answers.ros.org/question/357762/slam_toolbox-message-filter-dropping-message/, Message type sensor_msgs/msg/LaserScan is not detected by slam toolbox, Cloned slam-toolbox repo, switched to foxy-devel branch. Do you have any other ideas as to what the issue may be? If I omit unite_imu_method and echo /camera/gyro/imu_info and /camera/accel/imu_info I see no data either. I am not using a bridge but the error output seems to be the same. When I run slam_toolbox filter f_not_ldap { not match ("slapd" value (PROGRAM)); }; log { source (s_udp); filter (f_not_asa); filter (f_not_dbg); filter (f_not_ldap); destination (d_messages); destination (d_logserver); }; But those slapd entries are still going to my remote log server. Would salt mines, lakes or flats be reasonably found in high, snowy elevations? How were sailing warships maneuvered in battle -- who coordinated the actions of all the sailors? Could not providing a transform for the scanner frame be the issue? You signed in with another tab or window. Do non-Segwit nodes reject Segwit transactions with invalid signature? Is there a Node for general data frame transforms? Message Filter dropping message: frame 'base_link' at time 76.610 for reason 'Unknown' But you are right, it's not related to navigation, I get in in Slam Toolbox as well and it doesn't affect the mapping. Site design / logo 2022 Stack Exchange Inc; user contributions licensed under CC BY-SA. Well occasionally send you account related emails. Affix a joint when in contact with floor (humanoid feet in ROS2), Colcon fails to build Python package: "error in 'egg_base'", terminal outputs appear after KeyboardInterrupt, [ROS2] TF2 broadcaster name and map flickering, [slam_toolbox]: Message Filter dropping message: for reason 'discarding message because the queue is full', tf::createQuaternionFromYaw equivalent in ros2, Odom frame initialized at 180 degrees to base_link. for reason 'Unknown'" External Requests rviz2, error padin September 11, 2022, 5:15pm #1 I'm just following the Turtlebot3 tutorial and running the SLAM node. The user did mention the potential of there being a tf tree issue. I used the robot localization package to fuse the imu data with the wheel encoder data, set to publish the odom->base_footprint transform, then, the slam toolbox creates the map->odom transform. So I could not rule out that the ROS problem with IMU data is related to use of JetPack 5. Here is the log when I enable the Motion Module in realsense-viewer: And my terminal window prints this message: I see that your Viewer window is in 3D mode. Turns out it was a clock sync issue, solved it by ssh into the pi, then sudo date -s$(date -Ins) to set the time. I also have neither an "odom_frame" nor a "base_frame" in my current setup, which appears to be required. I know turtlebot3 has a pre-built package but I am trying to do things on my own, after experimenting with the turtlebot3 package. Apologies if this is a repeat issue. When set to true, this setting gathers the closest frames of different sensors to be sent with the same time tag. I'm pleased to hear that you resolved your RViz warnings and look forward to your next test results. So far, I have managed to create the transforms from map->odom->base_footprint, which is my base frame. If this is not the appropriate place to ask for help, I can take this over to rosanswers, but I'd appreciate any insight you might have! Would it be possible, given current technology, ten years, and an infinite amount of money, to construct a 7,000 foot (2200 meter) aircraft carrier? The simple answer to my problem (hinted-at by the OP, @pfedom), was that I needed to read the instructions and add several instances of the tf2_ros package to my Python launch file. I am able to echo data from /camera/gyro/sample and /camera/accel/sample though, so perhaps the odometry from the L515 will be more viable for SLAM? to your account, I'm using https://github.com/SICKAG/sick_safetyscanners2 A ROS2 Driver which reads the raw data from the SICK Safety Scanners and publishes the data as a laser_scan msg. I think your best bet is filing a question on ros answers. Thank you for the information! Can we keep alcoholic beverages indefinitely? I used the robot localization package to fuse the imu data with the wheel encoder data, set to publish the odom->base_footprint transform, then, the slam toolbox creates the map->odom transform. To learn more, see our tips on writing great answers. I'm going to begin exploring other options for odometry and/or different slam packages. This instruction does not use a colon as it only needs to be included if using 'bool' in the instruction, like with -DBUILD_PYTHON_BINDINGS:bool=true. We do not currently allow content pasted from ChatGPT on Stack Overflow; read our policy here. I just missed it when I created the tf-broadcaster. I've tried unplugging and replugging the camera in after starting the node, and the warning persisted, and the only way I am able to obtain imu data in ros is still from topics /camera/accel/sample and /camera/gyro/sample Perhaps there is a way to utilize these topics through remapping or using some other package that subscribes to these topics. Thank you for your thorough troubleshooting with me. When starting the online async node (or sync, I tested both) this message gets spammed and no map is produced: I am publishing my daser data to base_scan and my TF-Tree looks like this: So I am left with my latest issue of trying to rebuild librealsense with the -DBUILD_PYTHON_BINDINGS:bool=true option. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. I use the robot state publisher to publish the transform between the base footprint and the rest of the robot. I note that you have already tried echoing the. How can you know the sky Rose saw when the Titanic sunk? I am replacing the unneccesary points with NAN. If there is also a problem with IMU data then unplugging and re-inserting the camera should correct the problem. I look forward to hearing the results of your testing with robot_localization. I tried using unite_imu_method:=copy and unite_imu_method:=linear_interpolation but neither option showed data being published. Running ROS2 on Ubuntu 20.04.04. instead of using unite_imu_method:=copy I use unite_imu_method:=1, which allows the /camera/imu topic to echo data! Thank you for your help! It's crude, but I simply added these three static transform publishers to my launch file (which is a combination of one provided by an existing RPLidar ROS2 fork and Link [4]) and ceased having errors completely: Please start posting anonymously - your entry will be published after you log in or create a new account. (Ubuntu 18.04 with Eloquent) When starting the online async node (or sync, I tested both) this message gets spammed and no map is produced: [slam_toolbox-1] [INFO] [slam_toolbox]: Message Filter dropping message: frame 'base_scan' at time 1594996830.893 for reason 'Unknown' odom -> base_fooprint -> base_link -> base_scan. I've setup all the prerequisite for using slam_toolbox with my robot interfaces: launch for urdf and . Help us identify new roles for community members, Proposing a Community-Specific Closure Reason for non-English content, dependency slam is not available when installing TM package. [sync_slam_toolbox_node-11] [INFO] [1634914326.583770657] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1634914326.514 for reason 'Unknown' [sync_slam_toolbox_node-11] [INFO] [1634914326.600718148] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1634914326.583 for reason 'Unknown' [lifecycle . The topics /camera/depth/camera_info, /camera/depth/image_rect_raw, and /scan all appear to be publishing properly, however instead of publishing to /map, the slam_toolbox terminal repeatedly gives the following output: I'm unsure if I need to tweak some of the parameters within the realsense node, or the toolbox node. 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