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DFKI-NI / mir_robot

ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
BSD 3-Clause "New" or "Revised" License
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Transforms missing Rviz #95

Closed azizs1 closed 2 years ago

azizs1 commented 2 years ago

Hello,

Currently working with a MiR100 with ROS Noetic and an Ubuntu 20.04 PC and while trying to debug why when I publish to move_base_simple/goal, it wasn't actually moving in real life. I noticed when I launched rviz using rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz, I received the following: rviz

Evidently, some transforms were not being published, so when I ran tf_monitor, I get the following: tf_monitor

The /base_footprint is almost exactly 6 hours behind, but my system time and MiR time should be accurate and matching, so I am not really sure what the issue is here. I am a bit new to this whole thing, so if there is anymore information I can provide, please let me know. Thanks in advance!

mintar commented 2 years ago

The /base_footprint is almost exactly 6 hours behind, but my system time and MiR time should be accurate and matching, so I am not really sure what the issue is here.

No, the synchronization between the system time and the MiR time is exactly the problem. The fact that it's almost exactly 6 hours looks like it's a time zone problem. Once you've synchronized the two times, the problem should go away.

azizs1 commented 2 years ago

Changing the MiR clock 6 hours ahead did the trick, thank you! However, it seems I had incorrectly assumed that this would resolve my issue with publishing to move_base_simple/goal as outlined in here, https://github.com/dfki-ric/mir_robot/issues/27. Just like the original poster on that issue thread, I can publish on /cmd_vel and move the MiR in real life, but it seems that when I try to input a specific pose as in https://github.com/dfki-ric/mir_robot/issues/27#issuecomment-486286245, nothing actually happens. Similarly, when I use the "2D Pose Estimate" RViz as in https://github.com/dfki-ric/mir_robot/issues/21, the robot is moved to the new pose on RViz but does not move at all in real life. The following is the roswtf output when I attempt to publishing the message to move_base_simple/goal: roswtf I do get the message that is "publishing and latching message" when I send the publish command, but nothing happens.