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cra-ros-pkg / robot_localization

robot_localization is a package of nonlinear state estimation nodes. The package was developed by Charles River Analytics, Inc. Please ask questions on answers.ros.org.
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QoS incompatibility between the navsat_transform node and the ekf_filter node #887

Open GPrathap opened 5 months ago

GPrathap commented 5 months ago

Desktop (please complete the following information):

To reproduce this behaviour

  1. ros2 topic info -v /odometry/global where /odometry/global is the global odometry estimation topic from ekf_filter

        Publisher count: 1
    Node name: ekf_filter_node_map
    Node namespace: /
    Topic type: nav_msgs/msg/Odometry
    Endpoint type: PUBLISHER
    GID: 01.10.90.de.c2.02.9b.31.57.de.c5.4d.00.00.28.03.00.00.00.00.00.00.00.00
    QoS profile:
      Reliability: RELIABLE
      History (Depth): KEEP_LAST (10)
      Durability: VOLATILE
      Lifespan: Infinite
      Deadline: Infinite
      Liveliness: AUTOMATIC
      Liveliness lease duration: Infinite

    Subscription count: 2

    Node name: navsat_transform_base
Node namespace: /
Topic type: nav_msgs/msg/Odometry
Endpoint type: SUBSCRIPTION
GID: 01.10.42.3d.a3.e1.64.b1.da.72.99.8a.00.00.22.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: BEST_EFFORT
  History (Depth): KEEP_LAST (1)
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

I feel that within ekf_filter node for the odometry topic QoS type should be BEST_EFFORT, VOLATILE.

GPrathap commented 5 months ago

@ayrton04 If we configure this way will it solve the problem? https://docs.ros2.org/galactic/api/rclcpp/classrclcpp_1_1QosOverridingOptions.html

GPrathap commented 5 months ago

Seems to be when I set this it working fine :)

    ekf_filter_node_map:
      ros__parameters:
        qos_overrides:
          /odometry/global:
            publisher:  # publisher without provided id
              reliability: best_effort
              depth: 1
ayrton04 commented 5 months ago

I don't use this node in ROS 2, so I don't feel strongly. Is it actually causing any performance issues?

GPrathap commented 5 months ago

Yep, over DDS, especially with Cyclone DDS. But, after ordering it's fine

ayrton04 commented 5 months ago

And why change the EKF settings and not the QoS profile in navsat_transform_node?

GPrathap commented 5 months ago

Have look here: https://docs.ros.org/en/foxy/How-To-Guides/DDS-tuning.html

Solution: Use best-effort QoS settings instead of reliable.

navsat_transform_node already publishes with best-effort QoS

ayrton04 commented 5 months ago

Okie doke. I won't be making any changes, but feel free to submit a PR. Thanks.