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Interbotix / interbotix_ros_rovers

ROS Packages for Interbotix Rovers
BSD 3-Clause "New" or "Revised" License
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[Question]: Can't get tf data when running quickstart guide #47

Closed shanchaicn closed 1 year ago

shanchaicn commented 1 year ago

Question

Hi,

I've flashed the NUC via xslocobot_amd64_install and finished the finished the ROS 1 remote install on my remote computer. Following the guide, I run the xslocobot_control.launch on my locobot's terminal and run the remote_view.launch on the remote computer. But I didn't see the virtual real-time representation of the robot correctly.

Rviz: no tf data received

Screenshot from 2023-07-21 11-07-21 I don't know why the TF tree is empty.

Robot Model

locobot_base

Operating System

Ubuntu 20.04

ROS Version

ROS 1 Noetic

Additional Info

Here is the remote

locobot@locobot1:~$ roslaunch interbotix_xslocobot_control xslocobot_control.launch robot_model:=locobot_base use_base:=true use_camera:=true use_lidar:=true
... logging to /home/locobot/.ros/log/99b26020-27da-11ee-9db7-8fd22f556adf/roslaunch-locobot1-1740.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.186.3:40701/

SUMMARY
========

PARAMETERS
 * /locobot/base_type: create3
 * /locobot/camera/realsense2_camera/accel_fps: -1
 * /locobot/camera/realsense2_camera/accel_frame_id: locobot/camera_ac...
 * /locobot/camera/realsense2_camera/accel_optical_frame_id: locobot/camera_ac...
 * /locobot/camera/realsense2_camera/align_depth: False
 * /locobot/camera/realsense2_camera/aligned_depth_to_color_frame_id: locobot/camera_al...
 * /locobot/camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: locobot/camera_al...
 * /locobot/camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: locobot/camera_al...
 * /locobot/camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: locobot/camera_al...
 * /locobot/camera/realsense2_camera/aligned_depth_to_infra1_frame_id: locobot/camera_al...
 * /locobot/camera/realsense2_camera/aligned_depth_to_infra2_frame_id: locobot/camera_al...
 * /locobot/camera/realsense2_camera/allow_no_texture_points: False
 * /locobot/camera/realsense2_camera/base_frame_id: locobot/camera_link
 * /locobot/camera/realsense2_camera/calib_odom_file: 
 * /locobot/camera/realsense2_camera/clip_distance: -2.0
 * /locobot/camera/realsense2_camera/color_fps: 30
 * /locobot/camera/realsense2_camera/color_frame_id: locobot/camera_co...
 * /locobot/camera/realsense2_camera/color_height: 480
 * /locobot/camera/realsense2_camera/color_optical_frame_id: locobot/camera_co...
 * /locobot/camera/realsense2_camera/color_width: 640
 * /locobot/camera/realsense2_camera/confidence_fps: -1
 * /locobot/camera/realsense2_camera/confidence_height: -1
 * /locobot/camera/realsense2_camera/confidence_width: -1
 * /locobot/camera/realsense2_camera/depth_fps: 30
 * /locobot/camera/realsense2_camera/depth_frame_id: locobot/camera_de...
 * /locobot/camera/realsense2_camera/depth_height: 480
 * /locobot/camera/realsense2_camera/depth_optical_frame_id: locobot/camera_de...
 * /locobot/camera/realsense2_camera/depth_width: 640
 * /locobot/camera/realsense2_camera/device_type: 
 * /locobot/camera/realsense2_camera/enable_accel: False
 * /locobot/camera/realsense2_camera/enable_color: True
 * /locobot/camera/realsense2_camera/enable_confidence: True
 * /locobot/camera/realsense2_camera/enable_depth: True
 * /locobot/camera/realsense2_camera/enable_fisheye1: False
 * /locobot/camera/realsense2_camera/enable_fisheye2: False
 * /locobot/camera/realsense2_camera/enable_fisheye: False
 * /locobot/camera/realsense2_camera/enable_gyro: False
 * /locobot/camera/realsense2_camera/enable_infra1: False
 * /locobot/camera/realsense2_camera/enable_infra2: False
 * /locobot/camera/realsense2_camera/enable_infra: False
 * /locobot/camera/realsense2_camera/enable_pointcloud: False
 * /locobot/camera/realsense2_camera/enable_pose: False
 * /locobot/camera/realsense2_camera/enable_sync: False
 * /locobot/camera/realsense2_camera/filters: 
 * /locobot/camera/realsense2_camera/fisheye1_frame_id: locobot/camera_fi...
 * /locobot/camera/realsense2_camera/fisheye1_optical_frame_id: locobot/camera_fi...
 * /locobot/camera/realsense2_camera/fisheye2_frame_id: locobot/camera_fi...
 * /locobot/camera/realsense2_camera/fisheye2_optical_frame_id: locobot/camera_fi...
 * /locobot/camera/realsense2_camera/fisheye_fps: -1
 * /locobot/camera/realsense2_camera/fisheye_frame_id: locobot/camera_fi...
 * /locobot/camera/realsense2_camera/fisheye_height: -1
 * /locobot/camera/realsense2_camera/fisheye_optical_frame_id: locobot/camera_fi...
 * /locobot/camera/realsense2_camera/fisheye_width: -1
 * /locobot/camera/realsense2_camera/gyro_fps: -1
 * /locobot/camera/realsense2_camera/gyro_frame_id: locobot/camera_gy...
 * /locobot/camera/realsense2_camera/gyro_optical_frame_id: locobot/camera_gy...
 * /locobot/camera/realsense2_camera/imu_optical_frame_id: locobot/camera_im...
 * /locobot/camera/realsense2_camera/infra1_frame_id: locobot/camera_in...
 * /locobot/camera/realsense2_camera/infra1_optical_frame_id: locobot/camera_in...
 * /locobot/camera/realsense2_camera/infra2_frame_id: locobot/camera_in...
 * /locobot/camera/realsense2_camera/infra2_optical_frame_id: locobot/camera_in...
 * /locobot/camera/realsense2_camera/infra_fps: 30
 * /locobot/camera/realsense2_camera/infra_height: 480
 * /locobot/camera/realsense2_camera/infra_rgb: False
 * /locobot/camera/realsense2_camera/infra_width: 848
 * /locobot/camera/realsense2_camera/initial_reset: False
 * /locobot/camera/realsense2_camera/json_file_path: 
 * /locobot/camera/realsense2_camera/linear_accel_cov: 0.01
 * /locobot/camera/realsense2_camera/odom_frame_id: locobot/camera_od...
 * /locobot/camera/realsense2_camera/ordered_pc: False
 * /locobot/camera/realsense2_camera/pointcloud_texture_index: 0
 * /locobot/camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
 * /locobot/camera/realsense2_camera/pose_frame_id: locobot/camera_po...
 * /locobot/camera/realsense2_camera/pose_optical_frame_id: locobot/camera_po...
 * /locobot/camera/realsense2_camera/publish_odom_tf: True
 * /locobot/camera/realsense2_camera/publish_tf: True
 * /locobot/camera/realsense2_camera/reconnect_timeout: 6.0
 * /locobot/camera/realsense2_camera/rosbag_filename: 
 * /locobot/camera/realsense2_camera/serial_no: 
 * /locobot/camera/realsense2_camera/stereo_module/exposure/1: 7500
 * /locobot/camera/realsense2_camera/stereo_module/exposure/2: 1
 * /locobot/camera/realsense2_camera/stereo_module/gain/1: 16
 * /locobot/camera/realsense2_camera/stereo_module/gain/2: 16
 * /locobot/camera/realsense2_camera/tf_publish_rate: 0.0
 * /locobot/camera/realsense2_camera/topic_odom_in: odom_in
 * /locobot/camera/realsense2_camera/unite_imu_method: 
 * /locobot/camera/realsense2_camera/usb_port_id: 
 * /locobot/camera/realsense2_camera/wait_for_device_timeout: -1.0
 * /locobot/joint_state_publisher/rate: 100
 * /locobot/joint_state_publisher/source_list: ['dynamixel/joint...
 * /locobot/robot_description: <?xml version="1....
 * /locobot/rplidarNode/angle_compensate: True
 * /locobot/rplidarNode/frame_id: locobot/laser_fra...
 * /locobot/rplidarNode/inverted: False
 * /locobot/rplidarNode/serial_baudrate: 115200
 * /locobot/rplidarNode/serial_port: /dev/rplidar
 * /locobot/use_base: True
 * /locobot/xs_sdk/load_configs: True
 * /locobot/xs_sdk/mode_configs: /home/locobot/int...
 * /locobot/xs_sdk/motor_configs: /home/locobot/int...
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /tf_rebroadcaster/filepath_config: /home/locobot/int...
 * /tf_rebroadcaster/topic_from: /mobile_base/tf
 * /tf_rebroadcaster/topic_to: /tf
 * /topics: [{'topic': '/mobi...

NODES
  /
    parameter_bridge (interbotix_xslocobot_control/startup_bridge.sh)
    tf_rebroadcaster (interbotix_tf_tools/tf_rebroadcaster)
  /locobot/
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rplidarNode (rplidar_ros/rplidarNode)
    xs_sdk (interbotix_xs_sdk/xs_sdk)
  /locobot/camera/
    realsense2_camera (nodelet/nodelet)
    realsense2_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [1759]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 99b26020-27da-11ee-9db7-8fd22f556adf
process[rosout-1]: started with pid [1772]
started core service [/rosout]
process[locobot/joint_state_publisher-2]: started with pid [1778]
process[locobot/robot_state_publisher-3]: started with pid [1780]
process[locobot/xs_sdk-4]: started with pid [1781]
process[parameter_bridge-5]: started with pid [1782]
process[tf_rebroadcaster-6]: started with pid [1787]
process[locobot/rplidarNode-7]: started with pid [1789]
process[locobot/camera/realsense2_camera_manager-8]: started with pid [1790]
[ INFO] [1689953034.112868894]: [tf_rebroadcaster] Will broadcast TFs from topic '/mobile_base/tf' to topic '/tf'.
[ INFO] [1689953034.114993725]: [tf_rebroadcaster] Will broadcast TF from frame 'odom' to frame 'base_link', prepending prefix 'locobot/'.
[ INFO] [1689953034.115095925]: [tf_rebroadcaster] Will broadcast TF from frame 'odom' to frame 'base_footprint', prepending prefix 'locobot/'.
[ INFO] [1689953034.114974774]: [xs_sdk] Loaded mode configs from '/home/locobot/interbotix_ws/src/interbotix_ros_rovers/interbotix_ros_xslocobots/interbotix_xslocobot_control/config/modes_base.yaml'.
process[locobot/camera/realsense2_camera-9]: started with pid [1798]
[ INFO] [1689953034.118026038]: [xs_sdk] Loaded motor configs from '/home/locobot/interbotix_ws/src/interbotix_ros_rovers/interbotix_ros_xslocobots/interbotix_xslocobot_control/config/locobot_base.yaml'.
[ INFO] [1689953034.120025967]: [xs_sdk] Pinging all motors specified in the motor_config file. (Attempt 1/3)
[ INFO] [1689953034.152533325]: RPLIDAR running on ROS package rplidar_ros, SDK Version:2.0.0
[ INFO] [1689953034.155298299]: [xs_sdk]    Found DYNAMIXEL ID: 11, Model: 'XL430-W250-2', Joint Name: 'tilt'.
[ INFO] [1689953034.171114417]: Initializing nodelet with 4 worker threads.
[ INFO] [1689953034.201025865]: [xs_sdk]    Found DYNAMIXEL ID: 10, Model: 'XL430-W250-2', Joint Name: 'pan'.
[ INFO] [1689953034.211938215]: RPLIDAR S/N: CF999AF2C1EA98D4BEEB9CF0404A3517
[ INFO] [1689953034.211976453]: Firmware Ver: 1.27
[ INFO] [1689953034.211989376]: Hardware Rev: 5
[ INFO] [1689953034.212791182]: [xs_sdk] Writing startup register values to EEPROM. This only needs to be done once on a robot. Set the `~load_configs` parameter to false from now on.
[ INFO] [1689953034.263161707]: RPLidar health status : OK.
[ INFO] [1689953034.344920369]: [xs_sdk] Could not get 'Goal_Current' Item Info. This message can be ignored if none of the robot's motors support current control.
[ INFO] [1689953034.344973188]: [xs_sdk] SyncWriteHandler for Goal_Current not added as it's not supported.
[ INFO] [1689953034.387733233]: RealSense ROS v2.3.2
[ INFO] [1689953034.387767745]: Built with LibRealSense v2.50.0
[ INFO] [1689953034.387787021]: Running with LibRealSense v2.50.0
[ INFO] [1689953034.413146397]:  
[ INFO] [1689953034.500746745]: [xs_sdk] The operating mode for the 'camera' group was changed to position.
[ INFO] [1689953034.519142125]: current scan mode: Stability, sample rate: 4 Khz, max_distance: 12.0 m, scan frequency:10.0 Hz, 
[ INFO] [1689953034.610032589]: Device with serial number 239122072205 was found.

[ INFO] [1689953034.610109121]: Device with physical ID 2-1-2 was found.
[ INFO] [1689953034.610139005]: Device with name Intel RealSense D435 was found.
[ INFO] [1689953034.610500124]: Device with port number 2-1 was found.
[ INFO] [1689953034.610546833]: Device USB type: 3.2
[ INFO] [1689953034.612482013]: getParameters...
ROS_DISTRO was set to 'noetic' before. Please make sure that the environment does not mix paths from different distributions.
[ INFO] [1689953034.651761559]: setupDevice...
[ INFO] [1689953034.651810800]: JSON file is not provided
[ INFO] [1689953034.651834365]: ROS Node Namespace: locobotcamera
[ INFO] [1689953034.651856348]: Device Name: Intel RealSense D435
[ INFO] [1689953034.651875430]: Device Serial No: 239122072205
[ INFO] [1689953034.651897400]: Device physical port: 2-1-2
[ INFO] [1689953034.651916852]: Device FW version: 05.15.00.02
[ INFO] [1689953034.651935623]: Device Product ID: 0x0B07
[ INFO] [1689953034.651961972]: Enable PointCloud: Off
[ INFO] [1689953034.651981709]: Align Depth: Off
[ INFO] [1689953034.652000465]: Sync Mode: Off
[ INFO] [1689953034.652048957]: Device Sensors: 
[ INFO] [1689953034.707732423]: [xs_sdk] Interbotix 'xs_sdk' node is up!
[ INFO] [1689953034.716306951]: Stereo Module was found.
[ INFO] [1689953034.736569469]: RGB Camera was found.
[ INFO] [1689953034.736872958]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1689953034.737011836]: num_filters: 0
[ INFO] [1689953034.737135543]: Setting Dynamic reconfig parameters.
ROS_DISTRO was set to 'noetic' before. Please make sure that the environment does not mix paths from different distributions.
[INFO] [1689953036.265252605] [ros_bridge]: create bidirectional bridge for topic /mobile_base/battery_state
[INFO] [1689953036.280212180] [ros_bridge]: create bidirectional bridge for topic /mobile_base/cmd_audio
[INFO] [1689953036.286988769] [ros_bridge]: create bidirectional bridge for topic /mobile_base/cmd_lightring
[INFO] [1689953036.291592393] [ros_bridge]: create bidirectional bridge for topic /mobile_base/cmd_vel
[INFO] [1689953036.297066957] [ros_bridge]: create bidirectional bridge for topic /mobile_base/dock
[INFO] [1689953036.301477877] [ros_bridge]: create bidirectional bridge for topic /mobile_base/hazard_detection
[INFO] [1689953036.312192141] [ros_bridge]: create bidirectional bridge for topic /mobile_base/imu
[INFO] [1689953036.321117013] [ros_bridge]: create bidirectional bridge for topic /mobile_base/interface_buttons
[INFO] [1689953036.325095669] [ros_bridge]: create bidirectional bridge for topic /mobile_base/ir_intensity
[INFO] [1689953036.329410888] [ros_bridge]: create bidirectional bridge for topic /mobile_base/ir_opcode
[INFO] [1689953036.333385500] [ros_bridge]: create bidirectional bridge for topic /mobile_base/kidnap_status
[INFO] [1689953036.337706438] [ros_bridge]: create bidirectional bridge for topic /mobile_base/mouse
[INFO] [1689953036.341949514] [ros_bridge]: create bidirectional bridge for topic /mobile_base/odom
[INFO] [1689953036.347085383] [ros_bridge]: create bidirectional bridge for topic /mobile_base/rosout
[INFO] [1689953036.351565160] [ros_bridge]: create bidirectional bridge for topic /mobile_base/slip_status
[INFO] [1689953036.355847069] [ros_bridge]: create bidirectional bridge for topic /mobile_base/stop_status
[INFO] [1689953036.362777918] [ros_bridge]: create bidirectional bridge for topic /mobile_base/tf
[INFO] [1689953036.375737475] [ros_bridge]: create bidirectional bridge for topic /mobile_base/tf_static
[INFO] [1689953036.379489471] [ros_bridge]: create bidirectional bridge for topic /mobile_base/wheel_status
[INFO] [1689953036.383198542] [ros_bridge]: create bidirectional bridge for topic /mobile_base/wheel_ticks
[INFO] [1689953036.388021416] [ros_bridge]: create bidirectional bridge for topic /mobile_base/wheel_vels
The parameter 'services_1_to_2' either doesn't exist or isn't an array
The parameter 'services_2_to_1' either doesn't exist or isn't an array
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
hwmon command 0x80( 5 0 0 0 ) failed (response -7= HW not ready)
[ INFO] [1689953037.297450238]: Done Setting Dynamic reconfig parameters.
[ INFO] [1689953037.305821735]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1689953037.306221122]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1689953037.306264814]: setupPublishers...
[ INFO] [1689953037.310340439]: Expected frequency for depth = 30.00000
[ INFO] [1689953037.354777105]: Expected frequency for color = 30.00000
[ INFO] [1689953037.386204425]: setupStreams...
 21/07 11:23:57,710 WARNING [140210683770624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1689953037.760896471]: SELECTED BASE:Depth, 0
[ INFO] [1689953037.771184025]: RealSense Node Is Up!
[ WARN] [1689953037.827945202]: 
 21/07 11:23:57,828 WARNING [140210683770624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 21/07 11:23:57,878 WARNING [140210683770624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 21/07 11:23:57,929 WARNING [140210683770624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 21/07 11:23:58,038 WARNING [140210683770624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 21/07 11:23:58,089 WARNING [140210683770624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 21/07 11:23:58,241 WARNING [140210683770624] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
shanchaicn commented 1 year ago

I can run the ROS 1 Standard Software Setupand xslocobot_description.launch. That works well. But I cannot run the remove_view correctly. I am so confused.

shanchaicn commented 1 year ago

After changing ROS_IP like this Can't see/echo topics published by LoCoBot on remote using ROS 1, it works well.