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Interbotix / interbotix_ros_rovers

ROS Packages for Interbotix Rovers
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[Bug]: Navigation stack tutorial transform connection error #43

Closed Dorteel closed 1 year ago

Dorteel commented 1 year ago

What happened?

I tried following the navigation stack tutorial, but when running the first script I get the following warning messages:

[ WARN] [1685980370.811195683]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1685980370.524103)! Error="Could not find a connection between 'locobot/odom' and 'locobot/base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.20066 timeout was 0.2.".

Do you have any suggestions?

I also get the following errors (These occur even when running the first command on the locobot control tutorial:

 05/06 18:27:22,950 WARNING [139654317717248] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 05/06 18:27:23,000 WARNING [139654317717248] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: Resource temporarily unavailable, number: b

Thank you very much for the help in advance!

Robot Model

locobot_wx250s

Operating System

Ubuntu 20.04

ROS Distro

ROS 1 Noetic

Steps To Reproduce

Run the following command

roslaunch interbotix_xslocobot_nav xslocobot_nav.launch robot_model:=locobot_wx250s use_lidar:=true rtabmap_args:=-d

Relevant log output

[ WARN] [1685983017.571404936]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1685983016.484634)! Error="Lookup would require extrapolation -5875763.405638100s into the future.  Requested time 1685983016.484633684 but the latest data is at time 1680107253.078995466, when looking up transform from frame [locobot/base_footprint] to frame [locobot/odom]. canTransform returned after 0.200104 timeout was 0.2.".
[ WARN] [1685983017.729923229]: Timed out waiting for transform from locobot/base_footprint to map to become available before running costmap, tf error: Lookup would require extrapolation 5875755.283468832s into the past.  Requested time 1680107253.239347219 but the earliest data is at time 1685983008.522815943, when looking up transform from frame [locobot/base_footprint] to frame [map]. canTransform returned after 0.100838 timeout was 0.1.
[ WARN] [1685983002.823570873]: /locobot/rtabmap/rgbd_sync: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called.
/locobot/rtabmap/rgbd_sync subscribed to (exact sync):
   /locobot/camera/color/image_raw \
   /locobot/camera/aligned_depth_to_color/image_raw \
   /locobot/camera/color/camera_info
[ WARN] (2023-06-05 18:36:43.822) Parameters.cpp:1134::parseArguments() Parameter migration from "Grid/FromDepth" to "Grid/Sensor" (value=false).

Additional Info

No response

lukeschmitt-tr commented 1 year ago 
Lookup would require extrapolation 5875755.283468832s into the past

Check that the base's clock is sync'ed with your robot's computer: https://docs.trossenrobotics.com/interbotix_xslocobots_docs/troubleshooting.html#create-3-base-clock-is-not-synchronized

The control_transfer warnings are from the RealSense camera and can be ignored if the camera streams are active.

Dorteel commented 1 year ago

Thank you, that was it!