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Interbotix / interbotix_ros_rovers

ROS Packages for Interbotix Rovers
BSD 3-Clause "New" or "Revised" License
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[Bug]: Navigation Stack tutorial Bug #48

Closed shanchaicn closed 1 year ago

shanchaicn commented 1 year ago

What happened?

I tried to do the navigation with this command line:

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

I got some warning like this:

[ WARN] [1690398061.622297031]: 
 26/07 15:01:01,623 WARNING [140268917479168] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 15:01:01,673 WARNING [140268917479168] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 15:01:01,723 WARNING [140268917479168] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 15:01:01,924 WARNING [140268917479168] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 15:01:01,975 WARNING [140268917479168] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 15:01:02,025 WARNING [140268917479168] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ WARN] [1690398062.250737219]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1690398061.976060)! 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 0.201772 timeout was 0.2.".
[ WARN] [1690398062.393388031]: Timed out waiting for transform from locobot/base_footprint to map to become available before running costmap, tf error: Could not find a connection between 'map' and 'locobot/base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.100781 timeout was 0.1.
[ WARN] [1690398062.454532962]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1690398062.048217)! 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 0.201449 timeout was 0.2.".
[ WARN] [1690398062.658756609]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1690398062.144190)! 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 0.201429 timeout was 0.2.".
[ WARN] [1690398062.861524758]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1690398062.217091)! 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 0.201189 timeout was 0.2.".
[ WARN] [1690398063.074991094]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1690398062.384497)! 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 0.202085 timeout was 0.2.".
[ WARN] [1690398063.278248217]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1690398062.480565)! 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 0.201888 timeout was 0.2.".

Robot Model

locobot_base

Operating System

Ubuntu 20.04

ROS Distro

ROS 1 Noetic

Steps To Reproduce

After syncing the time with this issueNavigation stack tutorial transform connection error, it still didn't work.

Relevant log output

locobot@locobot1:~$ roslaunch interbotix_xslocobot_nav xslocobot_nav.launch robot_model:=locobot_base use_lidar:=true rtabmap_args:=-d
... logging to /home/locobot/.ros/log/2f4ea0fa-2be9-11ee-b28c-b94d5dd7b39f/roslaunch-locobot1-9050.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://192.168.8.121:45975/

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: True
 * /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/move_base/NavfnROS/allow_unknown: False
 * /locobot/move_base/TrajectoryPlannerROS/acc_lim_theta: 3.2
 * /locobot/move_base/TrajectoryPlannerROS/acc_lim_x: 0.5
 * /locobot/move_base/TrajectoryPlannerROS/acc_lim_y: 0
 * /locobot/move_base/TrajectoryPlannerROS/dwa: True
 * /locobot/move_base/TrajectoryPlannerROS/escape_reset_dist: 0.05
 * /locobot/move_base/TrajectoryPlannerROS/escape_vel: -0.1
 * /locobot/move_base/TrajectoryPlannerROS/goal_distance_bias: 1.0
 * /locobot/move_base/TrajectoryPlannerROS/holonomic_robot: False
 * /locobot/move_base/TrajectoryPlannerROS/max_vel_theta: 1.0
 * /locobot/move_base/TrajectoryPlannerROS/max_vel_x: 0.5
 * /locobot/move_base/TrajectoryPlannerROS/meter_scoring: True
 * /locobot/move_base/TrajectoryPlannerROS/min_in_place_vel_theta: 0.4
 * /locobot/move_base/TrajectoryPlannerROS/min_vel_x: 0.1
 * /locobot/move_base/TrajectoryPlannerROS/occdist_scale: 0.01
 * /locobot/move_base/TrajectoryPlannerROS/path_distance_bias: 0.75
 * /locobot/move_base/TrajectoryPlannerROS/vx_samples: 3
 * /locobot/move_base/base_global_planner: navfn/NavfnROS
 * /locobot/move_base/base_local_planner: base_local_planne...
 * /locobot/move_base/controller_frequency: 10
 * /locobot/move_base/controller_patience: 3
 * /locobot/move_base/global_costmap/depth_layer/depth/clearing: True
 * /locobot/move_base/global_costmap/depth_layer/depth/data_type: PointCloud2
 * /locobot/move_base/global_costmap/depth_layer/depth/marking: True
 * /locobot/move_base/global_costmap/depth_layer/depth/topic: rtabmap/depth/col...
 * /locobot/move_base/global_costmap/depth_layer/max_obstacle_height: 0.7
 * /locobot/move_base/global_costmap/depth_layer/observation_sources: depth
 * /locobot/move_base/global_costmap/depth_layer/obstacle_range: 2.5
 * /locobot/move_base/global_costmap/depth_layer/raytrace_range: 9.0
 * /locobot/move_base/global_costmap/depth_layer/track_unknown_space: True
 * /locobot/move_base/global_costmap/global_frame: map
 * /locobot/move_base/global_costmap/inflation_layer/cost_scaling_factor: 2.5
 * /locobot/move_base/global_costmap/inflation_layer/inflation_radius: 0.3
 * /locobot/move_base/global_costmap/laser_layer/max_obstacle_height: 0.7
 * /locobot/move_base/global_costmap/laser_layer/observation_sources: rplidar
 * /locobot/move_base/global_costmap/laser_layer/obstacle_range: 2.5
 * /locobot/move_base/global_costmap/laser_layer/raytrace_range: 13.0
 * /locobot/move_base/global_costmap/laser_layer/rplidar/clearing: True
 * /locobot/move_base/global_costmap/laser_layer/rplidar/data_type: LaserScan
 * /locobot/move_base/global_costmap/laser_layer/rplidar/inf_is_valid: True
 * /locobot/move_base/global_costmap/laser_layer/rplidar/marking: True
 * /locobot/move_base/global_costmap/laser_layer/rplidar/topic: scan
 * /locobot/move_base/global_costmap/laser_layer/track_unknown_space: True
 * /locobot/move_base/global_costmap/plugins: [{'name': 'static...
 * /locobot/move_base/global_costmap/publish_frequency: 0.5
 * /locobot/move_base/global_costmap/robot_base_frame: locobot/base_foot...
 * /locobot/move_base/global_costmap/robot_radius: 0.2
 * /locobot/move_base/global_costmap/update_frequency: 1.0
 * /locobot/move_base/local_costmap/depth_layer/depth/clearing: True
 * /locobot/move_base/local_costmap/depth_layer/depth/data_type: PointCloud2
 * /locobot/move_base/local_costmap/depth_layer/depth/marking: True
 * /locobot/move_base/local_costmap/depth_layer/depth/topic: rtabmap/depth/col...
 * /locobot/move_base/local_costmap/depth_layer/max_obstacle_height: 0.7
 * /locobot/move_base/local_costmap/depth_layer/observation_sources: depth
 * /locobot/move_base/local_costmap/depth_layer/obstacle_range: 2.5
 * /locobot/move_base/local_costmap/depth_layer/raytrace_range: 9.0
 * /locobot/move_base/local_costmap/depth_layer/track_unknown_space: True
 * /locobot/move_base/local_costmap/global_frame: locobot/odom
 * /locobot/move_base/local_costmap/height: 4.0
 * /locobot/move_base/local_costmap/inflation_layer/cost_scaling_factor: 2.5
 * /locobot/move_base/local_costmap/inflation_layer/inflation_radius: 0.3
 * /locobot/move_base/local_costmap/laser_layer/max_obstacle_height: 0.7
 * /locobot/move_base/local_costmap/laser_layer/observation_sources: rplidar
 * /locobot/move_base/local_costmap/laser_layer/obstacle_range: 2.5
 * /locobot/move_base/local_costmap/laser_layer/raytrace_range: 13.0
 * /locobot/move_base/local_costmap/laser_layer/rplidar/clearing: True
 * /locobot/move_base/local_costmap/laser_layer/rplidar/data_type: LaserScan
 * /locobot/move_base/local_costmap/laser_layer/rplidar/inf_is_valid: True
 * /locobot/move_base/local_costmap/laser_layer/rplidar/marking: True
 * /locobot/move_base/local_costmap/laser_layer/rplidar/topic: scan
 * /locobot/move_base/local_costmap/laser_layer/track_unknown_space: True
 * /locobot/move_base/local_costmap/plugins: [{'name': 'laser_...
 * /locobot/move_base/local_costmap/publish_frequency: 5.0
 * /locobot/move_base/local_costmap/resolution: 0.05
 * /locobot/move_base/local_costmap/robot_base_frame: locobot/base_foot...
 * /locobot/move_base/local_costmap/robot_radius: 0.2
 * /locobot/move_base/local_costmap/rolling_window: True
 * /locobot/move_base/local_costmap/update_frequency: 5.0
 * /locobot/move_base/local_costmap/width: 4.0
 * /locobot/move_base/oscillation_distance: 0.2
 * /locobot/move_base/oscillation_timeout: 10
 * /locobot/move_base/planner_frequency: 1
 * /locobot/move_base/planner_patience: 5
 * /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/rtabmap/obstacle_detection/frame_id: locobot/base_foot...
 * /locobot/rtabmap/obstacle_detection/wait_for_transform: True
 * /locobot/rtabmap/points_xyzrgb/approx_sync: False
 * /locobot/rtabmap/points_xyzrgb/decimation: 4
 * /locobot/rtabmap/points_xyzrgb/voxel_size: 0.05
 * /locobot/rtabmap/rgbd_sync/approx_sync: False
 * /locobot/rtabmap/rtabmap/Mem/IncrementalMemory: True
 * /locobot/rtabmap/rtabmap/Mem/InitWMWithAllNodes: False
 * /locobot/rtabmap/rtabmap/approx_sync: True
 * /locobot/rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /locobot/rtabmap/rtabmap/frame_id: locobot/base_foot...
 * /locobot/rtabmap/rtabmap/map_frame_id: map
 * /locobot/rtabmap/rtabmap/odom_frame_id: locobot/odom
 * /locobot/rtabmap/rtabmap/odom_sensor_sync: False
 * /locobot/rtabmap/rtabmap/odom_tf_angular_variance: 0.05
 * /locobot/rtabmap/rtabmap/odom_tf_linear_variance: 0.1
 * /locobot/rtabmap/rtabmap/publish_tf: True
 * /locobot/rtabmap/rtabmap/queue_size: 10
 * /locobot/rtabmap/rtabmap/subscribe_depth: False
 * /locobot/rtabmap/rtabmap/subscribe_odom_info: False
 * /locobot/rtabmap/rtabmap/subscribe_rgb: False
 * /locobot/rtabmap/rtabmap/subscribe_rgbd: True
 * /locobot/rtabmap/rtabmap/subscribe_scan: True
 * /locobot/rtabmap/rtabmap/subscribe_scan_cloud: False
 * /locobot/rtabmap/rtabmap/subscribe_scan_descriptor: False
 * /locobot/rtabmap/rtabmap/subscribe_stereo: False
 * /locobot/rtabmap/rtabmap/subscribe_user_data: False
 * /locobot/rtabmap/rtabmap/tag_angular_variance: 9999
 * /locobot/rtabmap/rtabmap/tag_linear_variance: 0.0001
 * /locobot/rtabmap/rtabmap/wait_for_transform_duration: 0.2
 * /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/
    camera_tilt (rostopic/rostopic)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_base (move_base/move_base)
    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)
  /locobot/rtabmap/
    obstacle_detection (nodelet/nodelet)
    points_xyzrgb (nodelet/nodelet)
    rgbd_sync (nodelet/nodelet)
    rtabmap (rtabmap_slam/rtabmap)

auto-starting new master
process[master]: started with pid [9066]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 2f4ea0fa-2be9-11ee-b28c-b94d5dd7b39f
process[rosout-1]: started with pid [9079]
started core service [/rosout]
process[locobot/joint_state_publisher-2]: started with pid [9086]
process[locobot/robot_state_publisher-3]: started with pid [9087]
process[locobot/xs_sdk-4]: started with pid [9088]
process[parameter_bridge-5]: started with pid [9089]
process[tf_rebroadcaster-6]: started with pid [9093]
[ INFO] [1690399102.555381421]: [xs_sdk] Loaded mode configs from '/home/locobot/interbotix_ws/src/interbotix_ros_rovers/interbotix_ros_xslocobots/interbotix_xslocobot_control/config/modes_base.yaml'.
[ INFO] [1690399102.556657728]: [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] [1690399102.564760930]: [tf_rebroadcaster] Will broadcast TFs from topic '/mobile_base/tf' to topic '/tf'.
[ INFO] [1690399102.565705855]: [tf_rebroadcaster] Will broadcast TF from frame 'odom' to frame 'base_link', prepending prefix 'locobot/'.
[ INFO] [1690399102.565814240]: [tf_rebroadcaster] Will broadcast TF from frame 'odom' to frame 'base_footprint', prepending prefix 'locobot/'.
process[locobot/rplidarNode-7]: started with pid [9105]
process[locobot/camera/realsense2_camera_manager-8]: started with pid [9116]
[ INFO] [1690399102.576839363]: [xs_sdk] Pinging all motors specified in the motor_config file. (Attempt 1/3)
process[locobot/camera/realsense2_camera-9]: started with pid [9121]
process[locobot/rtabmap/rgbd_sync-10]: started with pid [9122]
process[locobot/rtabmap/points_xyzrgb-11]: started with pid [9124]
[ INFO] [1690399102.622141866]: RPLIDAR running on ROS package rplidar_ros, SDK Version:2.0.0
[ INFO] [1690399102.622527841]: [xs_sdk]    Found DYNAMIXEL ID: 11, Model: 'XL430-W250-2', Joint Name: 'tilt'.
process[locobot/rtabmap/obstacle_detection-12]: started with pid [9125]
process[locobot/rtabmap/rtabmap-13]: started with pid [9135]
process[locobot/move_base-14]: started with pid [9136]
process[locobot/camera_tilt-15]: started with pid [9137]
[ INFO] [1690399102.665008262]: Loading nodelet /locobot/rtabmap/rgbd_sync of type rtabmap_sync/rgbd_sync to manager /locobot/camera/realsense2_camera_manager with the following remappings:
[ INFO] [1690399102.666184555]: Loading nodelet /locobot/rtabmap/points_xyzrgb of type rtabmap_util/point_cloud_xyzrgb to manager /locobot/camera/realsense2_camera_manager with the following remappings:
[ INFO] [1690399102.667188878]: /locobot/rtabmap/depth/image -> /locobot/camera/aligned_depth_to_color/image_raw
[ INFO] [1690399102.667223143]: /locobot/rtabmap/rgb/camera_info -> /locobot/camera/color/camera_info
[ INFO] [1690399102.667240246]: /locobot/rtabmap/rgb/image -> /locobot/camera/color/image_raw
[ INFO] [1690399102.668523497]: [xs_sdk]    Found DYNAMIXEL ID: 10, Model: 'XL430-W250-2', Joint Name: 'pan'.
[ INFO] [1690399102.671416275]: /locobot/rtabmap/cloud -> /locobot/rtabmap/depth/color/voxels
[ INFO] [1690399102.673610423]: waitForService: Service [/locobot/camera/realsense2_camera_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1690399102.675236199]: waitForService: Service [/locobot/camera/realsense2_camera_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1690399102.675950202]: Initializing nodelet with 4 worker threads.
[ INFO] [1690399102.690882580]: [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] [1690399102.694987707]: waitForService: Service [/locobot/camera/realsense2_camera_manager/load_nodelet] is now available.
[ INFO] [1690399102.696263883]: waitForService: Service [/locobot/camera/realsense2_camera_manager/load_nodelet] is now available.
[ INFO] [1690399102.702417009]: Loading nodelet /locobot/rtabmap/obstacle_detection of type rtabmap_util/obstacles_detection to manager /locobot/camera/realsense2_camera_manager with the following remappings:
[ INFO] [1690399102.707648911]: RPLIDAR S/N: CF999AF2C1EA98D4BEEB9CF0404A3517
[ INFO] [1690399102.707688569]: Firmware Ver: 1.27
[ INFO] [1690399102.707702343]: Hardware Rev: 5
[ INFO] [1690399102.709891905]: /locobot/rtabmap/cloud -> /locobot/rtabmap/depth/color/voxels
[ INFO] [1690399102.709920389]: /locobot/rtabmap/ground -> /locobot/rtabmap/depth/color/ground
[ INFO] [1690399102.709932651]: /locobot/rtabmap/obstacles -> /locobot/rtabmap/depth/color/obstacles
[ INFO] [1690399102.758895370]: RPLidar health status : OK.
[ INFO] [1690399102.822518091]: [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] [1690399102.822594025]: [xs_sdk] SyncWriteHandler for Goal_Current not added as it's not supported.
[ INFO] [1690399102.855356941]: RealSense ROS v2.3.2
[ INFO] [1690399102.855461219]: Built with LibRealSense v2.50.0
[ INFO] [1690399102.855506755]: Running with LibRealSense v2.50.0
[ INFO] [1690399102.911873893]:  
[ INFO] [1690399102.994495644]: [xs_sdk] The operating mode for the 'camera' group was changed to position.
[ INFO] [1690399103.025995356]: current scan mode: Stability, sample rate: 4 Khz, max_distance: 12.0 m, scan frequency:10.0 Hz, 
ROS_DISTRO was set to 'noetic' before. Please make sure that the environment does not mix paths from different distributions.
[ INFO] [1690399103.140248413]: Device with serial number 239122072205 was found.

[ INFO] [1690399103.140405096]: Device with physical ID 2-1-2 was found.
[ INFO] [1690399103.142995868]: Device with name Intel RealSense D435 was found.
[ INFO] [1690399103.143665027]: Device with port number 2-1 was found.
[ INFO] [1690399103.143772701]: Device USB type: 3.2
[ INFO] [1690399103.148173395]: getParameters...
[ INFO] [1690399103.192716935]: Starting node...
[ INFO] [1690399103.206438439]: [xs_sdk] Interbotix 'xs_sdk' node is up!
[ INFO] [1690399103.257012927]: setupDevice...
[ INFO] [1690399103.257063247]: JSON file is not provided
[ INFO] [1690399103.257080224]: ROS Node Namespace: locobotcamera
[ INFO] [1690399103.257096199]: Device Name: Intel RealSense D435
[ INFO] [1690399103.257108111]: Device Serial No: 239122072205
[ INFO] [1690399103.257121816]: Device physical port: 2-1-2
[ INFO] [1690399103.257134789]: Device FW version: 05.15.00.02
[ INFO] [1690399103.257148103]: Device Product ID: 0x0B07
[ INFO] [1690399103.257160927]: Enable PointCloud: Off
[ INFO] [1690399103.257173728]: Align Depth: On
[ INFO] [1690399103.257184389]: Sync Mode: On
[ INFO] [1690399103.257229944]: Device Sensors: 
[ INFO] [1690399103.316968413]: Initializing nodelet with 4 worker threads.
[ INFO] [1690399103.349551140]: Stereo Module was found.
[ INFO] [1690399103.385797122]: RGB Camera was found.
[ INFO] [1690399103.386265194]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1690399103.386735161]: num_filters: 1
[ INFO] [1690399103.387529189]: 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] [1690399103.698316092]: /locobot/rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1690399103.698427456]: /locobot/rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1690399103.698468737]: /locobot/rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1690399103.698496588]: /locobot/rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1690399103.698529904]: /locobot/rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1690399103.698573536]: /locobot/rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1690399103.698604189]: /locobot/rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1690399103.698640180]: /locobot/rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1690399103.699042215]: /locobot/rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1690399103.734569423]: rtabmap: frame_id      = locobot/base_footprint
[ INFO] [1690399103.734613489]: rtabmap: odom_frame_id = locobot/odom
[ INFO] [1690399103.734638420]: rtabmap: map_frame_id  = map
[ INFO] [1690399103.734652456]: rtabmap: log_to_rosout_level = 4
[ INFO] [1690399103.734668108]: rtabmap: initial_pose  = 
[ INFO] [1690399103.734683664]: rtabmap: use_action_for_goal  = false
[ INFO] [1690399103.734702094]: rtabmap: tf_delay      = 0.050000
[ INFO] [1690399103.734720815]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1690399103.734736483]: rtabmap: odom_sensor_sync   = false
[ INFO] [1690399103.736643172]: rtabmap: gen_scan  = false
[ INFO] [1690399103.736688849]: rtabmap: gen_depth  = false
[ INFO] [1690399103.856541712]: /locobot/rtabmap/rgbd_sync: approx_sync = false
[ INFO] [1690399103.856600084]: /locobot/rtabmap/rgbd_sync: queue_size  = 10
[ INFO] [1690399103.856639358]: /locobot/rtabmap/rgbd_sync: depth_scale = 1.000000
[ INFO] [1690399103.857132505]: /locobot/rtabmap/rgbd_sync: decimation = 1
[ INFO] [1690399103.857161073]: /locobot/rtabmap/rgbd_sync: compressed_rate = 0.000000
[ INFO] [1690399103.885718349]: 
/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
[ INFO] [1690399103.954380524]: Approximate time sync = false
[ INFO] [1690399104.019819077]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1690399104.020472750]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ WARN] (2023-07-26 15:18:24.424) Parameters.cpp:1134::parseArguments() Parameter migration from "Grid/FromDepth" to "Grid/Sensor" (value=false).
[ INFO] [1690399104.424615684]: Update RTAB-Map parameter "Grid/MaxObstacleHeight"="0.7" from arguments
[ INFO] [1690399104.424650036]: Update RTAB-Map parameter "Grid/RangeMax"="0" from arguments
[ INFO] [1690399104.424664583]: Update RTAB-Map parameter "Grid/RayTracing"="true" from arguments
[ INFO] [1690399104.424683000]: Update RTAB-Map parameter "Grid/Sensor"="false" from arguments
[ INFO] [1690399104.424702744]: Update RTAB-Map parameter "Icp/CorrespondenceRatio"="0.4" from arguments
[ INFO] [1690399104.424725019]: Update RTAB-Map parameter "Icp/MaxCorrespondenceDistance"="0.1" from arguments
[ INFO] [1690399104.424741616]: Update RTAB-Map parameter "Icp/VoxelSize"="0.05" from arguments
[ INFO] [1690399104.424759764]: Update RTAB-Map parameter "Mem/STMSize"="30" from arguments
[ INFO] [1690399104.424770549]: Update RTAB-Map parameter "RGBD/AngularUpdate"="0.01" from arguments
[ INFO] [1690399104.424778488]: Update RTAB-Map parameter "RGBD/LinearUpdate"="0.01" from arguments
[ INFO] [1690399104.424787332]: Update RTAB-Map parameter "RGBD/LocalRadius"="5" from arguments
[ INFO] [1690399104.424796139]: Update RTAB-Map parameter "RGBD/NeighborLinkRefining"="true" from arguments
[ INFO] [1690399104.424805016]: Update RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false" from arguments
[ INFO] [1690399104.424815859]: Update RTAB-Map parameter "RGBD/ProximityBySpace"="true" from arguments
[ INFO] [1690399104.424823593]: Update RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="10" from arguments
[ INFO] [1690399104.424832414]: Update RTAB-Map parameter "Reg/Force3DoF"="true" from arguments
[ INFO] [1690399104.424841182]: Update RTAB-Map parameter "Reg/Strategy"="1" from arguments
[INFO] [1690399104.490391769] [ros_bridge]: create bidirectional bridge for topic /mobile_base/battery_state
[INFO] [1690399104.497482004] [ros_bridge]: create bidirectional bridge for topic /mobile_base/cmd_audio
[INFO] [1690399104.504248965] [ros_bridge]: create bidirectional bridge for topic /mobile_base/cmd_lightring
[INFO] [1690399104.512987813] [ros_bridge]: create bidirectional bridge for topic /mobile_base/cmd_vel
[INFO] [1690399104.521394580] [ros_bridge]: create bidirectional bridge for topic /mobile_base/dock
[INFO] [1690399104.529440029] [ros_bridge]: create bidirectional bridge for topic /mobile_base/hazard_detection
[INFO] [1690399104.537727798] [ros_bridge]: create bidirectional bridge for topic /mobile_base/imu
[INFO] [1690399104.544056412] [ros_bridge]: create bidirectional bridge for topic /mobile_base/interface_buttons
[INFO] [1690399104.549609940] [ros_bridge]: create bidirectional bridge for topic /mobile_base/ir_intensity
[INFO] [1690399104.554476711] [ros_bridge]: create bidirectional bridge for topic /mobile_base/ir_opcode
[INFO] [1690399104.559559420] [ros_bridge]: create bidirectional bridge for topic /mobile_base/kidnap_status
[INFO] [1690399104.566714250] [ros_bridge]: create bidirectional bridge for topic /mobile_base/mouse
[INFO] [1690399104.572738971] [ros_bridge]: create bidirectional bridge for topic /mobile_base/odom
[INFO] [1690399104.580285458] [ros_bridge]: create bidirectional bridge for topic /mobile_base/rosout
[INFO] [1690399104.586426924] [ros_bridge]: create bidirectional bridge for topic /mobile_base/slip_status
[INFO] [1690399104.595346588] [ros_bridge]: create bidirectional bridge for topic /mobile_base/stop_status
[INFO] [1690399104.602681298] [ros_bridge]: create bidirectional bridge for topic /mobile_base/tf
[INFO] [1690399104.617295531] [ros_bridge]: create bidirectional bridge for topic /mobile_base/tf_static
[INFO] [1690399104.622273641] [ros_bridge]: create bidirectional bridge for topic /mobile_base/wheel_status
[INFO] [1690399104.627255006] [ros_bridge]: create bidirectional bridge for topic /mobile_base/wheel_ticks
[INFO] [1690399104.632206080] [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
[ INFO] [1690399104.650945622]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1690399104.651593470]: rtabmap: Deleted database "/home/locobot/.ros/rtabmap.db" (--delete_db_on_start or -d are set).
[ INFO] [1690399104.651657756]: rtabmap: Using database from "/home/locobot/.ros/rtabmap.db" (0 MB).
[ INFO] [1690399104.756356393]: rtabmap: Database version = "0.21.1".
[ INFO] [1690399104.756393277]: rtabmap: SLAM mode (Mem/IncrementalMemory=true)
[ INFO] [1690399104.778903830]: /locobot/rtabmap/rtabmap: subscribe_depth = false
[ INFO] [1690399104.778957237]: /locobot/rtabmap/rtabmap: subscribe_rgb = false
[ INFO] [1690399104.778978110]: /locobot/rtabmap/rtabmap: subscribe_stereo = false
[ INFO] [1690399104.778998167]: /locobot/rtabmap/rtabmap: subscribe_rgbd = true (rgbd_cameras=1)
[ INFO] [1690399104.779011447]: /locobot/rtabmap/rtabmap: subscribe_odom_info = false
[ INFO] [1690399104.779028074]: /locobot/rtabmap/rtabmap: subscribe_user_data = false
[ INFO] [1690399104.779041565]: /locobot/rtabmap/rtabmap: subscribe_scan = true
[ INFO] [1690399104.779055891]: /locobot/rtabmap/rtabmap: subscribe_scan_cloud = false
[ INFO] [1690399104.779065975]: /locobot/rtabmap/rtabmap: subscribe_scan_descriptor = false
[ INFO] [1690399104.779079145]: /locobot/rtabmap/rtabmap: queue_size    = 10
[ INFO] [1690399104.779094825]: /locobot/rtabmap/rtabmap: approx_sync   = true
[ INFO] [1690399104.779157027]: Setup rgbd callback
[ INFO] [1690399104.786763449]: 
/locobot/rtabmap/rtabmap subscribed to (approx sync):
   /locobot/rtabmap/rgbd_image \
   /locobot/scan
[ INFO] [1690399104.915769032]: rtabmap 0.21.1 started...
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] [1690399106.069028577]: Done Setting Dynamic reconfig parameters.
[ INFO] [1690399106.069484453]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1690399106.069927353]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8
[ INFO] [1690399106.071707095]: setupPublishers...
[ INFO] [1690399106.074830666]: Expected frequency for depth = 30.00000
[ INFO] [1690399106.119818660]: Expected frequency for color = 30.00000
[ INFO] [1690399106.147865253]: Expected frequency for aligned_depth_to_color = 30.00000
[ INFO] [1690399106.180171518]: setupStreams...
 26/07 15:18:26,365 WARNING [140044102784768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ INFO] [1690399106.416577773]: SELECTED BASE:Depth, 0
[ INFO] [1690399106.426686836]: RealSense Node Is Up!
[ WARN] [1690399106.482301239]: 
 26/07 15:18:26,482 WARNING [140044102784768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 15:18:26,533 WARNING [140044102784768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 15:18:26,583 WARNING [140044102784768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 15:18:26,734 WARNING [140044102784768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 15:18:26,790 WARNING [140044102784768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 15:18:26,840 WARNING [140044102784768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
 26/07 15:18:26,890 WARNING [140044102784768] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ WARN] [1690399107.082522762]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1690399106.809140)! 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 0.200337 timeout was 0.2.".
[locobot/camera_tilt-15] process has finished cleanly
log file: /home/locobot/.ros/log/2f4ea0fa-2be9-11ee-b28c-b94d5dd7b39f/locobot-camera_tilt-15*.log
[ WARN] [1690399107.286142511]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1690399106.881471)! 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 0.201221 timeout was 0.2.".
[ WARN] [1690399107.488504889]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1690399106.977071)! 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 0.201609 timeout was 0.2.".
[ WARN] [1690399107.691154392]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1690399107.050264)! 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 0.201223 timeout was 0.2.".
[ WARN] [1690399107.874151738]: Timed out waiting for transform from locobot/base_footprint to map to become available before running costmap, tf error: Could not find a connection between 'map' and 'locobot/base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.100198 timeout was 0.1.
[ WARN] [1690399107.894410970]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1690399107.217081)! 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 0.200987 timeout was 0.2.".
[ WARN] [1690399108.096404317]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1690399107.313570)! 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 0.201004 timeout was 0.2.".
[ WARN] [1690399108.298462961]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1690399107.385722)! 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 0.201694 timeout was 0.2.".
[ WARN] [1690399108.500284473]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1690399107.481280)! 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 0.201703 timeout was 0.2.".
[ WARN] [1690399108.702726233]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1690399107.649407)! 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 0.20192 timeout was 0.2.".
[ WARN] [1690399108.905673019]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1690399107.817504)! 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 0.201867 timeout was 0.2.".
[ WARN] [1690399109.109287496]: Could not get transform from locobot/odom to locobot/base_footprint after 0.200000 seconds (for stamp=1690399108.225845)! 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 0.201309 timeout was 0.2.".

Additional Info

No response

lukeschmitt-tr commented 1 year ago

You may have unconnected trees because the robot is not able to see the Create 3's topics. I do not see anything in your logs indicating that the tf_rebroadcaster is publishing TFs so this may indeed be the case.

Two things:

shanchaicn commented 1 year ago

Thank you very much! I forgot to change the Create3 config file. It works well now!

lukeschmitt-tr commented 1 year ago

Good to hear. Feel free to close this issue if your problem has been solved.