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SteveMacenski / spatio_temporal_voxel_layer

A new voxel layer leveraging modern 3D graphics tools to modernize navigation environmental representations
http://wiki.ros.org/spatio_temporal_voxel_layer
GNU Lesser General Public License v2.1
616 stars 183 forks source link

Correct branch for ROS 2 Humble #279

Closed Cristian-wp closed 9 months ago

Cristian-wp commented 9 months ago

Hello, I am following (STVL) Using an External Costmap Plugin turorial about using this layer in the Nav2 ROS 2 package. I can not understand If I am doing something wrong, or the instructions does not match the actual branch names. The instruction are: STVL can be installed in ROS 2 via the ROS Build Farm:

sudo apt install ros-<ros2-distro>-spatio-temporal-voxel-layer

My output:

sudo apt install ros-humble-spatio-temporal-voxel-layer
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
E: Unable to locate package ros-humble-spatio-temporal-voxel-layer

It can also be built from source by cloning the repository into your Navigation2 workspace:

git clone -b <ros2-distro>-devel git@github.com:stevemacenski/spatio_temporal_voxel_layer

My output:

git clone --recursive git@github.com:stevemacenski/spatio_temporal_voxel_layer -b humble-devel
Cloning into 'spatio_temporal_voxel_layer'...
The authenticity of host 'github.com (140.82.121.4)' can't be established.
ED25519 key fingerprint is SHA256:+DiY3wvvV6TuJJhbpZisF/zLDA0zPMSvHdkr4UvCOqU.
This key is not known by any other names
Are you sure you want to continue connecting (yes/no/[fingerprint])? yes
Warning: Permanently added 'github.com' (ED25519) to the list of known hosts.
git@github.com: Permission denied (publickey).
fatal: Could not read from remote repository.

Please make sure you have the correct access rights
and the repository exists.

I have check the repository and I use the ros2 branch and it compiles without problem with colcon. So I wish to know if I am not founding the repository branch humble-devel for some reason, or the correct one is ros2. Thanks in advance.

SteveMacenski commented 9 months ago

Use humble branch, not humble-devel, you even pointed me to the humble branch :wink:

Note the thread here if on 22.04: https://github.com/SteveMacenski/spatio_temporal_voxel_layer/issues/167 when you get to compiling

Cristian-wp commented 9 months ago

I mean for spatio_temporal_voxel_layer not Navigation2. As I say before, I would like to install spatio-temporal-voxel-layer binary, but I can not understand if this is possible or not... Plus looking in the latest package version 2.2.0, it say Release for Galactic

Now I can compile it without problem, but when I try to use it in the [navigation2_with_stvl] (https://navigation.ros.org/tutorials/docs/navigation2_with_stvl.html) tutorial, I get the following output after setting the initial position and give it the first waypoint with RViz(I have modify the nav2_params.yaml as the tutorial explain):

[component_container_isolated-6] [WARN] [1700845699.314181660] [amcl]: AMCL cannot publish a pose or update the transform. Please set the initial pose...
[rviz2-5] [INFO] [1700845699.348767387] [rviz2]: Setting estimate pose: Frame:map, Position(-1.99375, -0.559368, 0), Orientation(0, 0, -1.83399e-06, 1) = Angle: -3.66798e-06
[component_container_isolated-6] [INFO] [1700845699.349127280] [amcl]: initialPoseReceived
[component_container_isolated-6] [WARN] [1700845699.349206579] [amcl]: Failed to transform initial pose in time (Lookup would require extrapolation into the future.  Requested time 1700845699.348702 but the latest data is at time 128.072000, when looking up transform from frame [odom] to frame [base_footprint])
[component_container_isolated-6] [INFO] [1700845699.349239411] [amcl]: Setting pose (128.061000): -1.994 -0.559 -0.000
[rviz2-5] [INFO] [1700845699.401963891] [rviz]: Message Filter dropping message: frame 'base_scan' at time 126.147 for reason 'discarding message because the queue is full'
[rviz2-5] [INFO] [1700845699.593500969] [rviz]: Message Filter dropping message: frame 'base_scan' at time 126.347 for reason 'discarding message because the queue is full'
[component_container_isolated-6] [INFO] [1700845699.613405946] [amcl]: Message Filter dropping message: frame 'base_scan' at time 127.347 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-6] [INFO] [1700845699.613462013] [global_costmap.global_costmap]: Message Filter dropping message: frame 'camera_depth_frame' at time 128.200 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-6] [INFO] [1700845699.813652402] [amcl]: Message Filter dropping message: frame 'base_scan' at time 127.547 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-6] [INFO] [1700845699.813708024] [global_costmap.global_costmap]: Message Filter dropping message: frame 'camera_depth_frame' at time 128.400 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO] [1700845699.817287513] [rviz]: Message Filter dropping message: frame 'base_scan' at time 126.546 for reason 'discarding message because the queue is full'
[rviz2-5] [INFO] [1700845700.009884203] [rviz]: Message Filter dropping message: frame 'base_scan' at time 126.746 for reason 'discarding message because the queue is full'
[component_container_isolated-6] [INFO] [1700845700.015340347] [global_costmap.global_costmap]: Message Filter dropping message: frame 'camera_depth_frame' at time 128.600 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO] [1700845700.202011588] [rviz]: Message Filter dropping message: frame 'base_scan' at time 126.946 for reason 'discarding message because the queue is full'
[component_container_isolated-6] [INFO] [1700845700.216485181] [amcl]: Message Filter dropping message: frame 'base_scan' at time 127.947 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-6] [INFO] [1700845700.216541133] [global_costmap.global_costmap]: Message Filter dropping message: frame 'camera_depth_frame' at time 128.801 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO] [1700845700.394145195] [rviz]: Message Filter dropping message: frame 'base_scan' at time 127.146 for reason 'discarding message because the queue is full'
[component_container_isolated-6] [INFO] [1700845700.416860933] [global_costmap.global_costmap]: Message Filter dropping message: frame 'camera_depth_frame' at time 129.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO] [1700845708.610880344] [rviz]: Message Filter dropping message: frame 'base_scan' at time 127.347 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO] [1700845708.815429917] [rviz]: Message Filter dropping message: frame 'base_scan' at time 127.547 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO] [1700845709.020468183] [rviz]: Message Filter dropping message: frame 'base_scan' at time 127.747 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO] [1700845709.224721206] [rviz]: Message Filter dropping message: frame 'base_scan' at time 127.947 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO] [1700845709.427977416] [rviz]: Message Filter dropping message: frame 'base_scan' at time 128.147 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO] [1700845709.632029863] [rviz]: Message Filter dropping message: frame 'base_scan' at time 128.347 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO] [1700845709.836569659] [rviz]: Message Filter dropping message: frame 'base_scan' at time 128.547 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO] [1700845710.008188189] [rviz]: Message Filter dropping message: frame 'base_scan' at time 128.747 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] [INFO] [1700845710.213399003] [rviz]: Message Filter dropping message: frame 'base_scan' at time 128.947 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-5] Start navigation
[rviz2-5] [INFO] [1700845710.788743929] [rviz_navigation_dialog_action_client]: NavigateToPose will be called using the BT Navigator's default behavior tree.
[rviz2-5] [ERROR] [1700845710.789156195] [rviz_navigation_dialog_action_client]: Goal was rejected by server
[component_container_isolated-6] [INFO] [1700845715.092527000] [global_costmap.global_costmap]: Message Filter dro

I understand that the problem is related to the navigation pose sended by RViz, but can it be related to this layer version?