Split TF tree in Iris maze

Ryanf55 commented 7 months ago

Expected

Can launch iris maze and have a single TF tree with no error in RVIZ

Actual

Rviz complains about missing frames, and the TF tree is split. On two computers, it only happens on one of them. Unclear what the difference is. I'll chase it down.

Steps to reproduce

Create a fresh ROS 2 workspace
Install the ros_gz dependencies per the README with VCS
Build all packages up to ros_gz_bringup
Launch iris maze
Run TF viewer: ros2 run tf2_tools view_frames

Logs

See the attached PDF for the desired frame tree

frames_2023-11-11_21.50.14.pdf

srmainwaring commented 7 months ago

@Ryanf55 fairly certain this was fixed in https://github.com/ArduPilot/ardupilot_gz/pull/32 where the PosePublisher plugin was removed from the models (this is the plugin publishing the parallel TF tree). Gazebo should only be publishing odom -> base_link, and this is output to /gz/tf which is relayed to /tf by topic_tools if use_gz_tf:=true.

We should be using:

  ardupilot_sitl_models:
    type: git
    url: https://github.com/ArduPilot/SITL_Models.git
    version: master

not

  ardupilot_sitl_models:
    type: git
    url: https://github.com/ArduPilot/SITL_Models.git
    version: main

as main is not the default branch and isn't being maintained (although I don't think it matters in this case).

Ryanf55 commented 7 months ago

Can confirm, no longer an issue in a clean workspace.

ArduPilot / ardupilot_gz