frame tree not accessible ?

[T-Lemmel]

Hello, I am trying to see the frame tree that is constructed when launching the spot_driver using tf2_tools view_frames. But when doing that the .pdf file never appears and the .gv file looks not completely created (see below) :

when running the view frame command on something else then the spot it works :

Here is what is typed :

ros2 launch spot_driver spot_driver.launch.py config_file:=./spot_logs.yaml launch_rviz:=true publish_point_clouds:=true

and then, in another terminal :

ros2 run tf2_tools view_frames

In the terminal where the driver is running i see this :

[component_container_mt-9] [ERROR] [1714995825.069386842] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995824.666914 but the latest data is at time 1714995824.466115, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995825.069465228] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995824.866963 but the latest data is at time 1714995824.466115, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995825.253745493] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995825.000325 but the latest data is at time 1714995824.466115, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995825.424492963] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995825.200372 but the latest data is at time 1714995824.466115, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995825.598668186] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995825.400447 but the latest data is at time 1714995824.466115, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995825.823998982] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995825.533835 but the latest data is at time 1714995825.533086, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995825.984311577] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995825.800542 but the latest data is at time 1714995825.533086, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995826.169580275] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995825.933928 but the latest data is at time 1714995825.533086, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995826.381804667] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995826.133955 but the latest data is at time 1714995825.533086, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995826.580817505] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995826.334023 but the latest data is at time 1714995825.533086, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995826.763467599] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995826.534022 but the latest data is at time 1714995825.533086, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995826.994908813] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995826.734069 but the latest data is at time 1714995826.599954, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995827.216300968] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995826.934116 but the latest data is at time 1714995826.599954, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995827.410040693] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995827.134191 but the latest data is at time 1714995826.599954, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995827.560975756] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995827.334237 but the latest data is at time 1714995826.599954, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995827.755296063] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995827.534259 but the latest data is at time 1714995826.599954, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995828.134489495] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995827.867698 but the latest data is at time 1714995827.666928, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995828.337727530] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995828.134400 but the latest data is at time 1714995827.666928, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995828.535109950] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995828.267795 but the latest data is at time 1714995827.666928, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995828.745891365] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995828.467851 but the latest data is at time 1714995827.666928, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995828.906434689] [register_node_back]: TF2 exception: [component_container_mt-9] The tf tree is invalid because it contains a loop. [component_container_mt-9] Frame base_link exists with parent body. [component_container_mt-9] Frame body exists with parent odom. [component_container_mt-9] Frame front_rail exists with parent body. [component_container_mt-9] Frame rear_rail exists with parent body. [component_container_mt-9] Frame gpe exists with parent odom. [component_container_mt-9] Frame odom exists with parent body. [component_container_mt-9] Frame vision exists with parent body. [component_container_mt-9] Frame flat_body exists with parent body. [component_container_mt-9] Frame front_left_hip exists with parent body. [component_container_mt-9] Frame front_left_upper_leg exists with parent front_left_hip. [component_container_mt-9] Frame front_left_lower_leg exists with parent front_left_upper_leg. [component_container_mt-9] Frame front_right_hip exists with parent body. [component_container_mt-9] Frame front_right_upper_leg exists with parent front_right_hip. [component_container_mt-9] Frame front_right_lower_leg exists with parent front_right_upper_leg. [component_container_mt-9] Frame rear_left_hip exists with parent body. [component_container_mt-9] Frame rear_left_upper_leg exists with parent rear_left_hip. [component_container_mt-9] Frame rear_left_lower_leg exists with parent rear_left_upper_leg. [component_container_mt-9] Frame rear_right_hip exists with parent body. [component_container_mt-9] Frame rear_right_upper_leg exists with parent rear_right_hip. [component_container_mt-9] Frame rear_right_lower_leg exists with parent rear_right_upper_leg. [component_container_mt-9] Frame back_fisheye exists with parent back. [component_container_mt-9] Frame back exists with parent head. [component_container_mt-9] Frame head exists with parent body. [component_container_mt-9] Frame frontleft exists with parent head. [component_container_mt-9] Frame frontleft_fisheye exists with parent frontleft. [component_container_mt-9] Frame frontright exists with parent head. [component_container_mt-9] Frame frontright_fisheye exists with parent frontright. [component_container_mt-9] Frame left_fisheye exists with parent left. [component_container_mt-9] Frame left exists with parent head. [component_container_mt-9] Frame right exists with parent head. [component_container_mt-9] Frame right_fisheye exists with parent right. [component_container_mt-9] Frame filtered_fiducial_19 exists with parent vision. [component_container_mt-9] Frame fiducial_19 exists with parent right_fisheye. [component_container_mt-9] [component_container_mt-9] [component_container_mt-9] [ERROR] [1714995828.907782538] [register_node_frontleft]: TF2 exception: [component_container_mt-9] The tf tree is invalid because it contains a loop. [component_container_mt-9] Frame base_link exists with parent body. [component_container_mt-9] Frame body exists with parent odom. [component_container_mt-9] Frame front_rail exists with parent body. [component_container_mt-9] Frame rear_rail exists with parent body. [component_container_mt-9] Frame gpe exists with parent odom. [component_container_mt-9] Frame odom exists with parent body. [component_container_mt-9] Frame vision exists with parent body. [component_container_mt-9] Frame flat_body exists with parent body. [component_container_mt-9] Frame front_left_hip exists with parent body. [component_container_mt-9] Frame front_left_upper_leg exists with parent front_left_hip. [component_container_mt-9] Frame front_left_lower_leg exists with parent front_left_upper_leg. [component_container_mt-9] Frame front_right_hip exists with parent body. [component_container_mt-9] Frame front_right_upper_leg exists with parent front_right_hip. [component_container_mt-9] Frame front_right_lower_leg exists with parent front_right_upper_leg. [component_container_mt-9] Frame rear_left_hip exists with parent body. [component_container_mt-9] Frame rear_left_upper_leg exists with parent rear_left_hip. [component_container_mt-9] Frame rear_left_lower_leg exists with parent rear_left_upper_leg. [component_container_mt-9] Frame rear_right_hip exists with parent body. [component_container_mt-9] Frame rear_right_upper_leg exists with parent rear_right_hip. [component_container_mt-9] Frame rear_right_lower_leg exists with parent rear_right_upper_leg. [component_container_mt-9] Frame back_fisheye exists with parent back. [component_container_mt-9] Frame back exists with parent head. [component_container_mt-9] Frame head exists with parent body. [component_container_mt-9] Frame frontleft exists with parent head. [component_container_mt-9] Frame frontleft_fisheye exists with parent frontleft. [component_container_mt-9] Frame frontright exists with parent head. [component_container_mt-9] Frame frontright_fisheye exists with parent frontright. [component_container_mt-9] Frame left_fisheye exists with parent left. [component_container_mt-9] Frame left exists with parent head. [component_container_mt-9] Frame right exists with parent head. [component_container_mt-9] Frame right_fisheye exists with parent right. [component_container_mt-9] Frame filtered_fiducial_19 exists with parent vision. [component_container_mt-9] Frame fiducial_19 exists with parent right_fisheye. [component_container_mt-9] [component_container_mt-9] [component_container_mt-9] [ERROR] [1714995828.907992238] [register_node_frontright]: TF2 exception: [component_container_mt-9] The tf tree is invalid because it contains a loop. [component_container_mt-9] Frame base_link exists with parent body. [component_container_mt-9] Frame body exists with parent odom. [component_container_mt-9] Frame front_rail exists with parent body. [component_container_mt-9] Frame rear_rail exists with parent body. [component_container_mt-9] Frame gpe exists with parent odom. [component_container_mt-9] Frame odom exists with parent body. [component_container_mt-9] Frame vision exists with parent body. [component_container_mt-9] Frame flat_body exists with parent body. [component_container_mt-9] Frame front_left_hip exists with parent body. [component_container_mt-9] Frame front_left_upper_leg exists with parent front_left_hip. [component_container_mt-9] Frame front_left_lower_leg exists with parent front_left_upper_leg. [component_container_mt-9] Frame front_right_hip exists with parent body. [component_container_mt-9] Frame front_right_upper_leg exists with parent front_right_hip. [component_container_mt-9] Frame front_right_lower_leg exists with parent front_right_upper_leg. [component_container_mt-9] Frame rear_left_hip exists with parent body. [component_container_mt-9] Frame rear_left_upper_leg exists with parent rear_left_hip. [component_container_mt-9] Frame rear_left_lower_leg exists with parent rear_left_upper_leg. [component_container_mt-9] Frame rear_right_hip exists with parent body. [component_container_mt-9] Frame rear_right_upper_leg exists with parent rear_right_hip. [component_container_mt-9] Frame rear_right_lower_leg exists with parent rear_right_upper_leg. [component_container_mt-9] Frame back_fisheye exists with parent back. [component_container_mt-9] Frame back exists with parent head. [component_container_mt-9] Frame head exists with parent body. [component_container_mt-9] Frame frontleft exists with parent head. [component_container_mt-9] Frame frontleft_fisheye exists with parent frontleft. [component_container_mt-9] Frame frontright exists with parent head. [component_container_mt-9] Frame frontright_fisheye exists with parent frontright. [component_container_mt-9] Frame left_fisheye exists with parent left. [component_container_mt-9] Frame left exists with parent head. [component_container_mt-9] Frame right exists with parent head. [component_container_mt-9] Frame right_fisheye exists with parent right. [component_container_mt-9] Frame filtered_fiducial_19 exists with parent vision. [component_container_mt-9] Frame fiducial_19 exists with parent right_fisheye. [component_container_mt-9] [component_container_mt-9] [component_container_mt-9] [ERROR] [1714995828.908691984] [register_node_right]: TF2 exception: [component_container_mt-9] The tf tree is invalid because it contains a loop. [component_container_mt-9] Frame base_link exists with parent body. [component_container_mt-9] Frame body exists with parent odom. [component_container_mt-9] Frame front_rail exists with parent body. [component_container_mt-9] Frame rear_rail exists with parent body. [component_container_mt-9] Frame gpe exists with parent odom. [component_container_mt-9] Frame odom exists with parent body. [component_container_mt-9] Frame vision exists with parent body. [component_container_mt-9] Frame flat_body exists with parent body. [component_container_mt-9] Frame front_left_hip exists with parent body. [component_container_mt-9] Frame front_left_upper_leg exists with parent front_left_hip. [component_container_mt-9] Frame front_left_lower_leg exists with parent front_left_upper_leg. [component_container_mt-9] Frame front_right_hip exists with parent body. [component_container_mt-9] Frame front_right_upper_leg exists with parent front_right_hip. [component_container_mt-9] Frame front_right_lower_leg exists with parent front_right_upper_leg. [component_container_mt-9] Frame rear_left_hip exists with parent body. [component_container_mt-9] Frame rear_left_upper_leg exists with parent rear_left_hip. [component_container_mt-9] Frame rear_left_lower_leg exists with parent rear_left_upper_leg. [component_container_mt-9] Frame rear_right_hip exists with parent body. [component_container_mt-9] Frame rear_right_upper_leg exists with parent rear_right_hip. [component_container_mt-9] Frame rear_right_lower_leg exists with parent rear_right_upper_leg. [component_container_mt-9] Frame back_fisheye exists with parent back. [component_container_mt-9] Frame back exists with parent head. [component_container_mt-9] Frame head exists with parent body. [component_container_mt-9] Frame frontleft exists with parent head. [component_container_mt-9] Frame frontleft_fisheye exists with parent frontleft. [component_container_mt-9] Frame frontright exists with parent head. [component_container_mt-9] Frame frontright_fisheye exists with parent frontright. [component_container_mt-9] Frame left_fisheye exists with parent left. [component_container_mt-9] Frame left exists with parent head. [component_container_mt-9] Frame right exists with parent head. [component_container_mt-9] Frame right_fisheye exists with parent right. [component_container_mt-9] Frame filtered_fiducial_19 exists with parent vision. [component_container_mt-9] Frame fiducial_19 exists with parent right_fisheye. [component_container_mt-9] [component_container_mt-9] [component_container_mt-9] [ERROR] [1714995828.909083832] [register_node_left]: TF2 exception: [component_container_mt-9] The tf tree is invalid because it contains a loop. [component_container_mt-9] Frame base_link exists with parent body. [component_container_mt-9] Frame body exists with parent odom. [component_container_mt-9] Frame front_rail exists with parent body. [component_container_mt-9] Frame rear_rail exists with parent body. [component_container_mt-9] Frame gpe exists with parent odom. [component_container_mt-9] Frame odom exists with parent body. [component_container_mt-9] Frame vision exists with parent body. [component_container_mt-9] Frame flat_body exists with parent body. [component_container_mt-9] Frame front_left_hip exists with parent body. [component_container_mt-9] Frame front_left_upper_leg exists with parent front_left_hip. [component_container_mt-9] Frame front_left_lower_leg exists with parent front_left_upper_leg. [component_container_mt-9] Frame front_right_hip exists with parent body. [component_container_mt-9] Frame front_right_upper_leg exists with parent front_right_hip. [component_container_mt-9] Frame front_right_lower_leg exists with parent front_right_upper_leg. [component_container_mt-9] Frame rear_left_hip exists with parent body. [component_container_mt-9] Frame rear_left_upper_leg exists with parent rear_left_hip. [component_container_mt-9] Frame rear_left_lower_leg exists with parent rear_left_upper_leg. [component_container_mt-9] Frame rear_right_hip exists with parent body. [component_container_mt-9] Frame rear_right_upper_leg exists with parent rear_right_hip. [component_container_mt-9] Frame rear_right_lower_leg exists with parent rear_right_upper_leg. [component_container_mt-9] Frame back_fisheye exists with parent back. [component_container_mt-9] Frame back exists with parent head. [component_container_mt-9] Frame head exists with parent body. [component_container_mt-9] Frame frontleft exists with parent head. [component_container_mt-9] Frame frontleft_fisheye exists with parent frontleft. [component_container_mt-9] Frame frontright exists with parent head. [component_container_mt-9] Frame frontright_fisheye exists with parent frontright. [component_container_mt-9] Frame left_fisheye exists with parent left. [component_container_mt-9] Frame left exists with parent head. [component_container_mt-9] Frame right exists with parent head. [component_container_mt-9] Frame right_fisheye exists with parent right. [component_container_mt-9] Frame filtered_fiducial_19 exists with parent vision. [component_container_mt-9] Frame fiducial_19 exists with parent right_fisheye. [component_container_mt-9] [component_container_mt-9]

[component_container_mt-9] [ERROR] [1714995829.111597763] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995828.867910 but the latest data is at time 1714995828.733794, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995829.311942086] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995829.067957 but the latest data is at time 1714995828.733794, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995829.517123582] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995829.268005 but the latest data is at time 1714995828.733794, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995829.680949223] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995829.468054 but the latest data is at time 1714995828.733794, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995829.898187103] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995829.601424 but the latest data is at time 1714995828.733794, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995830.093337781] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995829.868151 but the latest data is at time 1714995829.800718, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995830.282289847] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995830.068198 but the latest data is at time 1714995829.800718, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995830.480363425] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995830.201564 but the latest data is at time 1714995829.800718, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995830.687936354] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995830.401612 but the latest data is at time 1714995829.800718, when looking up transform from frame [right] to frame [right_fisheye] [component_container_mt-9] [ERROR] [1714995830.867945488] [register_node_right]: TF2 exception: [component_container_mt-9] Lookup would require extrapolation into the future. Requested time 1714995830.668343 but the latest data is at time 1714995829.800718, when looking up transform from frame [right] to frame [right_fisheye]

And so on... it keeps sending the same messages

Is there a particular way that tf is used here that would explain this ?

Thanks in advance, Tom

[khughes-bdai]

Hmm, looks like this is the source of the loop

Frame body exists with parent odom.
...
Frame odom exists with parent body.

There were some related issues with odom incorrectly being a child of body if you launch the driver without a namespace that I thought we had resolved (see https://github.com/bdaiinstitute/spot_ros2/issues/302 and https://github.com/bdaiinstitute/spot_ros2/pull/304).

A few questions, if you launch the driver with a namespace (spot_name:=<something>) does this error go away? Additionally, what's in your ./spot_logs.yaml file? Does it have preferred_odom_frame: "odom" or something else?

[khughes-bdai]

I currently don't see this error on main while launching the driver without a namespace

ros2 launch spot_driver spot_driver.launch.py config_file:=spot_ros.yaml  launch_rviz:=True enable_point_clouds:=True

This is what my config yaml looks like

/**:
  ros__parameters:
    robot_state_rate: 30.0
    metrics_rate: 0.04
    lease_rate: 1.0
    image_rate: 15.0
    auto_claim: False
    auto_power_on: False
    auto_stand: True
    deadzone: 0.05
    estop_timeout: 9.0
    start_estop: False
    cmd_duration: 0.25
    username: "..."
    password: "..."
    hostname: "xx.xx.xx.xx"

output of ros2 run rqt_tf_tree rqt_tf_tree (should be the same as view_frames)

[T-Lemmel]

hello, yes i had preferred_odom_frame: "odom", and launching the driver with a namespace does solve it, so thanks !

On the other hand, i have something weird with the /robot_name/odom frame :

Sometimes it appears under the robot like that :

It sometimes does, sometimes doesn't, i haven't been able to figure out why. (I have nothing else running on ros2 at the same time)

[khughes-bdai]

Where exactly the odom frame is placed with respect to the robot is a feature of the Boston Dynamics sdk. It's normal for it to sometimes be far away from the robot. I am still unsure why the tf loop error was occurring for you as I wasn't able to replicate it (maybe a clash with a background node?), but I'm glad that using the namespace resolved it! Using the namespace should also help with potential tf clashes in the future.