search

hatem-darweesh / op_bridge

OpenPlanner ROS based bridge for CARLA Simulator and Scenario Runner
MIT License
31 stars 12 forks source link

Problems running op_bridge ros2 #5

Closed AminoACID123 closed 1 year ago

AminoACID123 commented 2 years ago

Hi, I am trying to run op_bridge with ros2. I followed your tutorial on youtube and got everything setup. But when I launched ./run_exploration_mode_ros2.sh script, an rviz window did not correctly show the camera image and pointclouds.
Here is the terminal output:

[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[ndt_scan_matcher-21] [WARN] [1664086858.015599232] [localization.pose_estimator.ndt_scan_matcher]: No Pose!
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] [INFO] [1664086858.046088964] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.350 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] [INFO] [1664086858.142314375] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.400 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[ndt_scan_matcher-21] [WARN] [1664086858.226914341] [localization.pose_estimator.ndt_scan_matcher]: No Pose!
[rviz2-64] [INFO] [1664086858.237792162] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.450 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] [INFO] [1664086858.334673530] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.500 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[ndt_scan_matcher-21] [WARN] [1664086858.436153661] [localization.pose_estimator.ndt_scan_matcher]: No Pose!
[rviz2-64] [INFO] [1664086858.461631806] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.550 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[ndt_scan_matcher-21] [WARN] [1664086858.529001114] [localization.pose_estimator.ndt_scan_matcher]: No Pose!
[rviz2-64] [INFO] [1664086858.557993163] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.600 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[ndt_scan_matcher-21] [WARN] [1664086858.620294319] [localization.pose_estimator.ndt_scan_matcher]: No Pose!
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] [INFO] [1664086858.653768019] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.650 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[lidar_centerpoint_node-32] [WARN] [1664086858.678036155] [lidar_centerpoint]: Could not find a connection between 'base_link' and 'map' because they are not part of the same tree.Tf has two or more unconnected trees.
[lidar_centerpoint_node-32] [WARN] [1664086858.678077062] [lidar_centerpoint]: Fail to preprocess and skip to detect.
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[ndt_scan_matcher-21] [WARN] [1664086858.715348153] [localization.pose_estimator.ndt_scan_matcher]: No Pose!
[rviz2-64] [INFO] [1664086858.718300529] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.700 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[automatic_pose_initializer-20] [INFO] [1664086858.793155896] [localization.util.default_ad_api.helpers.automatic_pose_initializer]: client call: /api/localization/initialize
[automatic_pose_initializer-20] pose: []
[automatic_pose_initializer-20] 
[component_container_mt-53] [INFO] [1664086858.793430509] [default_ad_api.node.localization]: service call: /api/localization/initialize
[component_container_mt-53] pose: []
[component_container_mt-53] 
[component_container_mt-53] [INFO] [1664086858.793769630] [default_ad_api.node.localization]: client call: /localization/initialize
[component_container_mt-53] pose: []
[component_container_mt-53] 
[pose_initializer_node-19] [INFO] [1664086858.793876599] [localization.util.pose_initializer_node]: service call: /localization/initialize
[pose_initializer_node-19] pose: []
[pose_initializer_node-19] 
[pose_initializer_node-19] [INFO] [1664086858.794474050] [localization.util.pose_initializer_node]: Call NDT align server.
[ndt_scan_matcher-21] [WARN] [1664086858.794553962] [localization.pose_estimator.ndt_scan_matcher]: No InputTarget
[pose_initializer_node-19] [INFO] [1664086858.794676277] [localization.util.pose_initializer_node]: NDT align server failed.
[pose_initializer_node-19] [INFO] [1664086858.794761276] [localization.util.pose_initializer_node]: service exit: /localization/initialize
[pose_initializer_node-19] status:
[pose_initializer_node-19]   success: false
[pose_initializer_node-19]   code: 4
[pose_initializer_node-19]   message: "NDT align server failed."
[pose_initializer_node-19] 
[component_container_mt-53] [INFO] [1664086858.794883142] [default_ad_api.node.localization]: client exit: /localization/initialize
[component_container_mt-53] status:
[component_container_mt-53]   success: false
[component_container_mt-53]   code: 4
[component_container_mt-53]   message: "NDT align server failed."
[component_container_mt-53] 
[component_container_mt-53] [INFO] [1664086858.794885874] [default_ad_api.node.localization]: service exit: /api/localization/initialize
[component_container_mt-53] status:
[component_container_mt-53]   success: false
[component_container_mt-53]   code: 4
[component_container_mt-53]   message: "NDT align server failed."
[component_container_mt-53] 
[automatic_pose_initializer-20] [INFO] [1664086858.795090695] [localization.util.default_ad_api.helpers.automatic_pose_initializer]: client exit: /api/localization/initialize
[automatic_pose_initializer-20] status:
[automatic_pose_initializer-20]   success: false
[automatic_pose_initializer-20]   code: 4
[automatic_pose_initializer-20]   message: "NDT align server failed."
[automatic_pose_initializer-20] 
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] [INFO] [1664086858.845918386] [rviz2]: Message Filter dropping message: frame 'base_link' at time 16.750 for reason 'discarding message because the queue is full'
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp
[ndt_scan_matcher-21] [WARN] [1664086858.908776752] [localization.pose_estimator.ndt_scan_matcher]: No Pose!
[rviz2-64] Warning: Invalid frame ID "viewer" passed to canTransform argument source_frame - frame does not exist
[rviz2-64]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.4/src/buffer_core.cpp

Could you please give some advice on how I can fix this issue? Thanks!

hatem-darweesh commented 2 years ago

check this issue: https://github.com/ZATiTech/open_planner/issues/2