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anujjain-dev / unitree-go2-ros2

Developing robot description model for Unitree Go2 robot configured with Champ Legged Robots Research Repository
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TF error in rviz #3

Closed deeprail closed 1 week ago

deeprail commented 4 weeks ago

Hi, Maybe I met a TF error when using both gazebo and rviz. It seems like this: image In fact, probably because of the ubuntu, the program is not running stably. But still thanks to the author. If someone points out the problems with rviz, that would be great!

anujjain-dev commented 1 week ago

Hi @deeprail , May I know what is the Ubuntu and Ros version you are using? Also, have you tried installing the ros2 controllers?

deeprail commented 1 week ago

Thanks for your attention. I have found the problem. After trying different situation, I found that:

  1. Using unitree_ros2/setup_local.sh, which appoint “lo” as the network card, will cause this problem, as following Screenshot from 2024-11-16 20-24-56
  2. Using unitree_ros2/setup_default.sh, which does not appoint network card, the program goes well. as following Screenshot from 2024-11-16 20-29-13

Maybe the problem is caused by DDS middle ware, some communication problems.

Finally, thank you again for your excellent coding skills!

deeprail commented 1 week ago

By the way, loopback does not support multicasting

anujjain-dev commented 1 week ago

Yes, @deeprail Selection of proper middle ware is crucial to execute your ROS 2 processes. If you are not connected to the robot, can use default setup script. While if you want a local network interface, should use the local setup script to source your ROS 2 packages.

Closing this issue assuming there are no further queries related to TF error in rviz.