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husarion / rosbot_xl_ros

ROS 2 packages for ROSbot XL
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Multi-robot launch has no tfs #71

Open rahul-dev-app opened 4 months ago

rahul-dev-app commented 4 months ago

Hi I'm trying to launch multiple robots in the ros2-gazebo environment using the following command: ros2 launch rosbot_xl_gazebo simulation.launch.py robots:='robot1={x: 1.0, y: 2.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}; robot2={x: -1.0, y: 2.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: -1.54};'

This launches multiple robots in the gazebo environment fine, but it publishes no transforms; hence no SLAM etc., I assume the error is coming from clashing frame names like base_link? That results in Detected jump back in time. Clearing TF buffer. Please help with the issue!

Following is the attached output log for the launch I ran:

`[INFO] [robot_state_publisher-13]: process started with pid [6752] [INFO] [spawner-14]: process started with pid [6754] [INFO] [ekf_node-15]: process started with pid [6792] [INFO] [scan_to_scan_filter_chain-16]: process started with pid [6828] [INFO] [parameter_bridge-17]: process started with pid [6873] [INFO] [parameter_bridge-18]: process started with pid [6893] [INFO] [static_transform_publisher-19]: process started with pid [6898] [parameter_bridge-2] [INFO] [1720387500.869412153] [robot1.ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (ignition.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0) [create-3] [INFO] [1720387500.845083510] [robot1.ros_gz_sim]: Requesting list of world names. [robot_state_publisher-4] [INFO] [1720387500.833145003] [robot1.robot_state_publisher]: got segment antenna_connector_link [robot_state_publisher-4] [INFO] [1720387500.833241151] [robot1.robot_state_publisher]: got segment antenna_link [robot_state_publisher-4] [INFO] [1720387500.833255425] [robot1.robot_state_publisher]: got segment base_link [robot_state_publisher-4] [INFO] [1720387500.833263002] [robot1.robot_state_publisher]: got segment body_link [robot_state_publisher-4] [INFO] [1720387500.833269293] [robot1.robot_state_publisher]: got segment camera_bottom_screw_frame [robot_state_publisher-4] [INFO] [1720387500.833275687] [robot1.robot_state_publisher]: got segment camera_color_frame [robot_state_publisher-4] [INFO] [1720387500.833281526] [robot1.robot_state_publisher]: got segment camera_color_optical_frame [robot_state_publisher-4] [INFO] [1720387500.833287319] [robot1.robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-4] [INFO] [1720387500.833293222] [robot1.robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-4] [INFO] [1720387500.833299147] [robot1.robot_state_publisher]: got segment camera_infra1_frame [robot_state_publisher-4] [INFO] [1720387500.833305054] [robot1.robot_state_publisher]: got segment camera_infra1_optical_frame [robot_state_publisher-4] [INFO] [1720387500.833310714] [robot1.robot_state_publisher]: got segment camera_infra2_frame [robot_state_publisher-4] [INFO] [1720387500.833316343] [robot1.robot_state_publisher]: got segment camera_infra2_optical_frame [robot_state_publisher-4] [INFO] [1720387500.833322223] [robot1.robot_state_publisher]: got segment camera_link [robot_state_publisher-4] [INFO] [1720387500.833328057] [robot1.robot_state_publisher]: got segment camera_mount_bot_link [robot_state_publisher-4] [INFO] [1720387500.833382260] [robot1.robot_state_publisher]: got segment camera_mount_link [robot_state_publisher-4] [INFO] [1720387500.833476780] [robot1.robot_state_publisher]: got segment camera_mount_mid_link [robot_state_publisher-4] [INFO] [1720387500.833483456] [robot1.robot_state_publisher]: got segment camera_mount_top_link [robot_state_publisher-4] [INFO] [1720387500.833489531] [robot1.robot_state_publisher]: got segment cover_link [robot_state_publisher-4] [INFO] [1720387500.833495400] [robot1.robot_state_publisher]: got segment fl_wheel_link [robot_state_publisher-4] [INFO] [1720387500.833501303] [robot1.robot_state_publisher]: got segment fr_wheel_link [robot_state_publisher-4] [INFO] [1720387500.833506838] [robot1.robot_state_publisher]: got segment imu_link [robot_state_publisher-4] [INFO] [1720387500.833512691] [robot1.robot_state_publisher]: got segment laser [robot_state_publisher-4] [INFO] [1720387500.833518539] [robot1.robot_state_publisher]: got segment rl_wheel_link [robot_state_publisher-4] [INFO] [1720387500.833524443] [robot1.robot_state_publisher]: got segment rr_wheel_link [robot_state_publisher-4] [INFO] [1720387500.833530352] [robot1.robot_state_publisher]: got segment slamtec_rplidar_s3_link [static_transform_publisher-10] [WARN] [1720387500.807664917] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-10] [INFO] [1720387500.829755561] [robot1.point_cloud_tf]: Spinning until stopped - publishing transform [static_transform_publisher-10] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-10] rotation: ('0.499602', '-0.500000', '0.500000', '0.500398') [static_transform_publisher-10] from 'camera_depth_optical_frame' to 'robot1/base_link/robot1/camera_intel_realsense_d435_depth' [create-12] [INFO] [1720387500.861302441] [robot2.ros_gz_sim]: Requesting list of world names. [robot_state_publisher-13] [INFO] [1720387500.850681252] [robot2.robot_state_publisher]: got segment antenna_connector_link [robot_state_publisher-13] [INFO] [1720387500.850820000] [robot2.robot_state_publisher]: got segment antenna_link [robot_state_publisher-13] [INFO] [1720387500.850833399] [robot2.robot_state_publisher]: got segment base_link [robot_state_publisher-13] [INFO] [1720387500.850839902] [robot2.robot_state_publisher]: got segment body_link [robot_state_publisher-13] [INFO] [1720387500.850845408] [robot2.robot_state_publisher]: got segment camera_bottom_screw_frame [robot_state_publisher-13] [INFO] [1720387500.850851773] [robot2.robot_state_publisher]: got segment camera_color_frame [robot_state_publisher-13] [INFO] [1720387500.850857677] [robot2.robot_state_publisher]: got segment camera_color_optical_frame [robot_state_publisher-13] [INFO] [1720387500.850863497] [robot2.robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-13] [INFO] [1720387500.850869140] [robot2.robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-13] [INFO] [1720387500.850874922] [robot2.robot_state_publisher]: got segment camera_infra1_frame [robot_state_publisher-13] [INFO] [1720387500.850880524] [robot2.robot_state_publisher]: got segment camera_infra1_optical_frame [robot_state_publisher-13] [INFO] [1720387500.850886114] [robot2.robot_state_publisher]: got segment camera_infra2_frame [robot_state_publisher-13] [INFO] [1720387500.850891520] [robot2.robot_state_publisher]: got segment camera_infra2_optical_frame [robot_state_publisher-13] [INFO] [1720387500.850897307] [robot2.robot_state_publisher]: got segment camera_link [robot_state_publisher-13] [INFO] [1720387500.850903292] [robot2.robot_state_publisher]: got segment camera_mount_bot_link [robot_state_publisher-13] [INFO] [1720387500.850909735] [robot2.robot_state_publisher]: got segment camera_mount_link [robot_state_publisher-13] [INFO] [1720387500.850915659] [robot2.robot_state_publisher]: got segment camera_mount_mid_link [robot_state_publisher-13] [INFO] [1720387500.850922049] [robot2.robot_state_publisher]: got segment camera_mount_top_link [robot_state_publisher-13] [INFO] [1720387500.850928619] [robot2.robot_state_publisher]: got segment cover_link [robot_state_publisher-13] [INFO] [1720387500.850934925] [robot2.robot_state_publisher]: got segment fl_wheel_link [robot_state_publisher-13] [INFO] [1720387500.850940978] [robot2.robot_state_publisher]: got segment fr_wheel_link [robot_state_publisher-13] [INFO] [1720387500.850946556] [robot2.robot_state_publisher]: got segment imu_link [robot_state_publisher-13] [INFO] [1720387500.850952130] [robot2.robot_state_publisher]: got segment laser [robot_state_publisher-13] [INFO] [1720387500.850957856] [robot2.robot_state_publisher]: got segment rl_wheel_link [robot_state_publisher-13] [INFO] [1720387500.850963460] [robot2.robot_state_publisher]: got segment rr_wheel_link [robot_state_publisher-13] [INFO] [1720387500.850969250] [robot2.robot_state_publisher]: got segment slamtec_rplidar_s3_link [parameter_bridge-11] [INFO] [1720387500.910503182] [robot2.ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (ignition.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0) [static_transform_publisher-19] [WARN] [1720387500.919751835] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-19] [INFO] [1720387500.967783697] [robot2.point_cloud_tf]: Spinning until stopped - publishing transform [static_transform_publisher-19] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-19] rotation: ('0.499602', '-0.500000', '0.500000', '0.500398') [static_transform_publisher-19] from 'camera_depth_optical_frame' to 'robot2/base_link/robot2/camera_intel_realsense_d435_depth' [create-12] [INFO] [1720387501.574286811] [robot2.ros_gz_sim]: Waiting messages on topic [robot_description]. [create-3] [INFO] [1720387501.674678156] [robot1.ros_gz_sim]: Waiting messages on topic [robot_description]. [create-12] [INFO] [1720387501.774215782] [robot2.ros_gz_sim]: Requested creation of entity. [create-12] [INFO] [1720387501.774321358] [robot2.ros_gz_sim]: OK creation of entity. [create-3] [INFO] [1720387501.774215738] [robot1.ros_gz_sim]: Requested creation of entity. [create-3] [INFO] [1720387501.774322055] [robot1.ros_gz_sim]: OK creation of entity. [parameter_bridge-8] [INFO] [1720387501.886851857] [robot1.ros_gz_lidar_bridge]: Creating GZ->ROS Bridge: [/robot1/scan (ignition.msgs.LaserScan) -> /robot1/scan (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-8] [INFO] [1720387501.889253017] [robot1.ros_gz_lidar_bridge]: Creating ROS->GZ Bridge: [/robot1/scan (sensor_msgs/msg/LaserScan) -> /robot1/scan (ignition.msgs.LaserScan)] (Lazy 0) [INFO] [create-12]: process has finished cleanly [pid 6749] [INFO] [create-3]: process has finished cleanly [pid 6730] [parameter_bridge-9] [INFO] [1720387501.972446990] [robot1.ros_gz_camera_bridge]: Creating GZ->ROS Bridge: [/robot1/camera/color/camera_info (ignition.msgs.CameraInfo) -> /robot1/camera/color/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 1) [parameter_bridge-9] [INFO] [1720387501.975134753] [robot1.ros_gz_camera_bridge]: Creating ROS->GZ Bridge: [/robot1/camera/color/camera_info (sensor_msgs/msg/CameraInfo) -> /robot1/camera/color/camera_info (ignition.msgs.CameraInfo)] (Lazy 1) [parameter_bridge-9] [INFO] [1720387501.975377166] [robot1.ros_gz_camera_bridge]: Creating GZ->ROS Bridge: [/robot1/camera/color/image_raw (ignition.msgs.Image) -> /robot1/camera/color/image_raw (sensor_msgs/msg/Image)] (Lazy 1) [parameter_bridge-9] [INFO] [1720387501.976395003] [robot1.ros_gz_camera_bridge]: Creating ROS->GZ Bridge: [/robot1/camera/color/image_raw (sensor_msgs/msg/Image) -> /robot1/camera/color/image_raw (ignition.msgs.Image)] (Lazy 1) [parameter_bridge-9] [INFO] [1720387501.976549103] [robot1.ros_gz_camera_bridge]: Creating GZ->ROS Bridge: [/robot1/camera/depth/camera_info (ignition.msgs.CameraInfo) -> /robot1/camera/depth/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 1) [parameter_bridge-9] [INFO] [1720387501.977379578] [robot1.ros_gz_camera_bridge]: Creating ROS->GZ Bridge: [/robot1/camera/depth/camera_info (sensor_msgs/msg/CameraInfo) -> /robot1/camera/depth/camera_info (ignition.msgs.CameraInfo)] (Lazy 1) [parameter_bridge-9] [INFO] [1720387501.977479901] [robot1.ros_gz_camera_bridge]: Creating GZ->ROS Bridge: [/robot1/camera/depth/image_rect_raw (ignition.msgs.Image) -> /robot1/camera/depth/image_rect_raw (sensor_msgs/msg/Image)] (Lazy 1) [parameter_bridge-9] [INFO] [1720387501.978306261] [robot1.ros_gz_camera_bridge]: Creating ROS->GZ Bridge: [/robot1/camera/depth/image_rect_raw (sensor_msgs/msg/Image) -> /robot1/camera/depth/image_rect_raw (ignition.msgs.Image)] (Lazy 1) [parameter_bridge-9] [INFO] [1720387501.978376607] [robot1.ros_gz_camera_bridge]: Creating GZ->ROS Bridge: [/robot1/camera/depth/image_rect_raw/points (ignition.msgs.PointCloudPacked) -> /robot1/camera/depth/color/points (sensor_msgs/msg/PointCloud2)] (Lazy 1) [parameter_bridge-9] [INFO] [1720387501.979291106] [robot1.ros_gz_camera_bridge]: Creating ROS->GZ Bridge: [/robot1/camera/depth/color/points (sensor_msgs/msg/PointCloud2) -> /robot1/camera/depth/image_rect_raw/points (ignition.msgs.PointCloudPacked)] (Lazy 1) [parameter_bridge-17] [INFO] [1720387502.003128144] [robot2.ros_gz_lidar_bridge]: Creating GZ->ROS Bridge: [/robot2/scan (ignition.msgs.LaserScan) -> /robot2/scan (sensor_msgs/msg/LaserScan)] (Lazy 0) [parameter_bridge-17] [INFO] [1720387502.005530218] [robot2.ros_gz_lidar_bridge]: Creating ROS->GZ Bridge: [/robot2/scan (sensor_msgs/msg/LaserScan) -> /robot2/scan (ignition.msgs.LaserScan)] (Lazy 0) [parameter_bridge-18] [INFO] [1720387502.013356562] [robot2.ros_gz_camera_bridge]: Creating GZ->ROS Bridge: [/robot2/camera/color/camera_info (ignition.msgs.CameraInfo) -> /robot2/camera/color/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 1) [parameter_bridge-18] [INFO] [1720387502.015616768] [robot2.ros_gz_camera_bridge]: Creating ROS->GZ Bridge: [/robot2/camera/color/camera_info (sensor_msgs/msg/CameraInfo) -> /robot2/camera/color/camera_info (ignition.msgs.CameraInfo)] (Lazy 1) [parameter_bridge-18] [INFO] [1720387502.015836261] [robot2.ros_gz_camera_bridge]: Creating GZ->ROS Bridge: [/robot2/camera/color/image_raw (ignition.msgs.Image) -> /robot2/camera/color/image_raw (sensor_msgs/msg/Image)] (Lazy 1) [parameter_bridge-18] [INFO] [1720387502.016601545] [robot2.ros_gz_camera_bridge]: Creating ROS->GZ Bridge: [/robot2/camera/color/image_raw (sensor_msgs/msg/Image) -> /robot2/camera/color/image_raw (ignition.msgs.Image)] (Lazy 1) [parameter_bridge-18] [INFO] [1720387502.016728620] [robot2.ros_gz_camera_bridge]: Creating GZ->ROS Bridge: [/robot2/camera/depth/camera_info (ignition.msgs.CameraInfo) -> /robot2/camera/depth/camera_info (sensor_msgs/msg/CameraInfo)] (Lazy 1) [parameter_bridge-18] [INFO] [1720387502.017386166] [robot2.ros_gz_camera_bridge]: Creating ROS->GZ Bridge: [/robot2/camera/depth/camera_info (sensor_msgs/msg/CameraInfo) -> /robot2/camera/depth/camera_info (ignition.msgs.CameraInfo)] (Lazy 1) [parameter_bridge-18] [INFO] [1720387502.017443988] [robot2.ros_gz_camera_bridge]: Creating GZ->ROS Bridge: [/robot2/camera/depth/image_rect_raw (ignition.msgs.Image) -> /robot2/camera/depth/image_rect_raw (sensor_msgs/msg/Image)] (Lazy 1) [parameter_bridge-18] [INFO] [1720387502.018076824] [robot2.ros_gz_camera_bridge]: Creating ROS->GZ Bridge: [/robot2/camera/depth/image_rect_raw (sensor_msgs/msg/Image) -> /robot2/camera/depth/image_rect_raw (ignition.msgs.Image)] (Lazy 1) [parameter_bridge-18] [INFO] [1720387502.018137277] [robot2.ros_gz_camera_bridge]: Creating GZ->ROS Bridge: [/robot2/camera/depth/image_rect_raw/points (ignition.msgs.PointCloudPacked) -> /robot2/camera/depth/color/points (sensor_msgs/msg/PointCloud2)] (Lazy 1) [parameter_bridge-18] [INFO] [1720387502.018954622] [robot2.ros_gz_camera_bridge]: Creating ROS->GZ Bridge: [/robot2/camera/depth/color/points (sensor_msgs/msg/PointCloud2) -> /robot2/camera/depth/image_rect_raw/points (ignition.msgs.PointCloudPacked)] (Lazy 1) [ruby $(which ign) gazebo-1] libEGL warning: egl: failed to create dri2 screen [ruby $(which ign) gazebo-1] libEGL warning: egl: failed to create dri2 screen [ruby $(which ign) gazebo-1] [INFO] [1720387503.333703507] [robot1.gz_ros2_control]: connected to service!! /robot1/robot_state_publisher asking for robot_description [ruby $(which ign) gazebo-1] [INFO] [1720387503.334661015] [robot1.gz_ros2_control]: Received URDF from param server [ruby $(which ign) gazebo-1] [INFO] [1720387503.346201628] [robot1.gz_ros2_control]: The position_proportional_gain has been set to: 0.1 [ruby $(which ign) gazebo-1] [INFO] [1720387503.346265909] [robot1.gz_ros2_control]: Loading joint: fl_wheel_joint

[ruby $(which ign) gazebo-1] [INFO] [1720387503.346333264] [robot1.gz_ros2_control]: Loading joint: fr_wheel_joint

[ruby $(which ign) gazebo-1] [INFO] [1720387503.346362919] [robot1.gz_ros2_control]: Loading joint: rl_wheel_joint

[ruby $(which ign) gazebo-1] [INFO] [1720387503.346390760] [robot1.gz_ros2_control]: Loading joint: rr_wheel_joint

[ruby $(which ign) gazebo-1] [INFO] [1720387503.346466912] [robot1.gz_ros2_control]: Loading sensor: robot1/imu

[ruby $(which ign) gazebo-1] [INFO] [1720387503.346539699] [resource_manager]: Initialize hardware 'robot1/wheels' [ruby $(which ign) gazebo-1] [WARN] [1720387503.346551380] [robot1.gz_ros2_control]: On init... [ruby $(which ign) gazebo-1] [INFO] [1720387503.346588138] [resource_manager]: Successful initialization of hardware 'robot1/wheels' [ruby $(which ign) gazebo-1] [INFO] [1720387503.346628263] [resource_manager]: 'configure' hardware 'robot1/wheels' [ruby $(which ign) gazebo-1] [INFO] [1720387503.346634661] [robot1.gz_ros2_control]: System Successfully configured!

[ruby $(which ign) gazebo-1] [INFO] [1720387503.346656424] [resource_manager]: 'activate' hardware 'robot1/wheels'

[ruby $(which ign) gazebo-1] [INFO] [1720387503.346667414] [robot1.gz_ros2_control]: Loading controller_manager [ruby $(which ign) gazebo-1] [INFO] [1720387503.448511104] [robot2.gz_ros2_control]: connected to service!! /robot2/robot_state_publisher asking for robot_description [ruby $(which ign) gazebo-1] [INFO] [1720387503.448747147] [robot2.gz_ros2_control]: Received URDF from param server [ruby $(which ign) gazebo-1] [INFO] [1720387503.458961744] [robot2.gz_ros2_control]: The position_proportional_gain has been set to: 0.1 [ruby $(which ign) gazebo-1] [INFO] [1720387503.459044002] [robot2.gz_ros2_control]: Loading joint: fl_wheel_joint

[ruby $(which ign) gazebo-1] [INFO] [1720387503.459150260] [robot2.gz_ros2_control]: Loading joint: fr_wheel_joint

[ruby $(which ign) gazebo-1] [INFO] [1720387503.459186753] [robot2.gz_ros2_control]: Loading joint: rl_wheel_joint

[ruby $(which ign) gazebo-1] [INFO] [1720387503.459232414] [robot2.gz_ros2_control]: Loading joint: rr_wheel_joint

[ruby $(which ign) gazebo-1] [INFO] [1720387503.459286974] [robot2.gz_ros2_control]: Loading sensor: robot1/imu

[ruby $(which ign) gazebo-1] [INFO] [1720387503.459299932] [robot2.gz_ros2_control]: Loading sensor: robot2/imu

[ruby $(which ign) gazebo-1] [INFO] [1720387503.459387770] [resource_manager]: Initialize hardware 'robot2/wheels' [ruby $(which ign) gazebo-1] [WARN] [1720387503.459393243] [robot2.gz_ros2_control]: On init... [ruby $(which ign) gazebo-1] [INFO] [1720387503.459409645] [resource_manager]: Successful initialization of hardware 'robot2/wheels' [ruby $(which ign) gazebo-1] [INFO] [1720387503.459430379] [resource_manager]: 'configure' hardware 'robot2/wheels' [ruby $(which ign) gazebo-1] [INFO] [1720387503.459434654] [robot2.gz_ros2_control]: System Successfully configured!

[ruby $(which ign) gazebo-1] [INFO] [1720387503.459447507] [resource_manager]: 'activate' hardware 'robot2/wheels'

[ruby $(which ign) gazebo-1] [INFO] [1720387503.459453791] [robot2.gz_ros2_control]: Loading controller_manager [spawner-14] [INFO] [1720387503.478142363] [spawner_joint_state_broadcaster]: Waiting for '/robot2/controller_manager' node to exist [spawner-5] [INFO] [1720387503.503171006] [spawner_joint_state_broadcaster]: Waiting for '/robot1/controller_manager' node to exist [ruby $(which ign) gazebo-1] [WARN] [1720387503.521783834] [robot1.gz_ros2_control]: Desired controller update period (0.04 s) is slower than the gazebo simulation period (0.001 s). [ruby $(which ign) gazebo-1] libEGL warning: egl: failed to create dri2 screen [ruby $(which ign) gazebo-1] libEGL warning: egl: failed to create dri2 screen [ruby $(which ign) gazebo-1] [INFO] [1720387504.027287050] [robot1.gz_ros2_control]: IMU robot1/imu has a topic name: robot1/imu/data_raw [ruby $(which ign) gazebo-1] [INFO] [1720387504.027287041] [robot2.gz_ros2_control]: IMU robot1/imu has a topic name: robot1/imu/data_raw [ruby $(which ign) gazebo-1] [INFO] [1720387504.027461647] [robot2.gz_ros2_control]: IMU robot2/imu has a topic name: robot2/imu/data_raw [ekf_node-15] [WARN] [1720387504.491251695] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [ekf_node-6] [WARN] [1720387504.491267892] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-16] [WARN] [1720387504.491292521] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-16] [WARN] [1720387504.491448632] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-7] [WARN] [1720387504.491328708] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-7] [WARN] [1720387504.491348889] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [ekf_node-15] [WARN] [1720387504.845446085] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [ekf_node-6] [WARN] [1720387504.845446054] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-7] [WARN] [1720387504.845464893] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-7] [WARN] [1720387504.845476524] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-16] [WARN] [1720387504.845503321] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-16] [WARN] [1720387504.845503620] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [ruby $(which ign) gazebo-1] [INFO] [1720387505.093632478] [robot2.controller_manager]: Loading controller 'joint_state_broadcaster' [spawner-14] [INFO] [1720387505.141707270] [spawner_joint_state_broadcaster]: Loaded robot2/joint_state_broadcaster [ruby $(which ign) gazebo-1] [INFO] [1720387505.143045219] [robot2.controller_manager]: Configuring controller 'joint_state_broadcaster' [ruby $(which ign) gazebo-1] [INFO] [1720387505.143366051] [robot2.joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [ekf_node-15] [WARN] [1720387505.157040815] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [ekf_node-6] [WARN] [1720387505.157085913] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-16] [WARN] [1720387505.157133361] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-7] [WARN] [1720387505.157143373] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-7] [WARN] [1720387505.161380359] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [ekf_node-6] [WARN] [1720387505.161377420] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-16] [WARN] [1720387505.161447227] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-16] [WARN] [1720387505.161469761] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [ekf_node-15] [WARN] [1720387505.161472208] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [spawner-14] [INFO] [1720387505.265101086] [spawner_joint_state_broadcaster]: Configured and activated robot2/joint_state_broadcaster [ruby $(which ign) gazebo-1] [INFO] [1720387505.318658472] [robot1.controller_manager]: Loading controller 'joint_state_broadcaster' [spawner-5] [INFO] [1720387505.347888542] [spawner_joint_state_broadcaster]: Loaded robot1/joint_state_broadcaster [ruby $(which ign) gazebo-1] [INFO] [1720387505.350131595] [robot1.controller_manager]: Configuring controller 'joint_state_broadcaster' [ruby $(which ign) gazebo-1] [INFO] [1720387505.350205091] [robot1.joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-5] [INFO] [1720387505.471761692] [spawner_joint_state_broadcaster]: Configured and activated robot1/joint_state_broadcaster [INFO] [spawner-14]: process has finished cleanly [pid 6754] [INFO] [spawner-20]: process started with pid [7237] [INFO] [spawner-5]: process has finished cleanly [pid 6734] [INFO] [spawner-21]: process started with pid [7239] [ruby $(which ign) gazebo-1] [INFO] [1720387506.518651444] [robot2.controller_manager]: Loading controller 'rosbot_xl_base_controller' [spawner-20] [INFO] [1720387506.577729799] [robot2_robot_controller_spawner]: Loaded robot2/rosbot_xl_base_controller [ruby $(which ign) gazebo-1] [INFO] [1720387506.579160551] [robot2.controller_manager]: Configuring controller 'rosbot_xl_base_controller' [spawner-20] [INFO] [1720387506.700540415] [robot2_robot_controller_spawner]: Configured and activated robot2/rosbot_xl_base_controller [INFO] [spawner-20]: process has finished cleanly [pid 7237] [INFO] [spawner-22]: process started with pid [7284] [ruby $(which ign) gazebo-1] [INFO] [1720387507.071724106] [robot1.controller_manager]: Loading controller 'rosbot_xl_base_controller' [spawner-21] [INFO] [1720387507.110161016] [robot1_robot_controller_spawner]: Loaded robot1/rosbot_xl_base_controller [ruby $(which ign) gazebo-1] [INFO] [1720387507.111343983] [robot1.controller_manager]: Configuring controller 'rosbot_xl_base_controller' [spawner-21] [INFO] [1720387507.232929473] [robot1_robot_controller_spawner]: Configured and activated robot1/rosbot_xl_base_controller [INFO] [spawner-21]: process has finished cleanly [pid 7239] [INFO] [spawner-23]: process started with pid [7300] [ruby $(which ign) gazebo-1] [INFO] [1720387508.316486415] [robot2.controller_manager]: Loading controller 'imu_broadcaster' [spawner-22] [INFO] [1720387508.345885340] [robot2_imu_broadcaster_spawner]: Loaded robot2/imu_broadcaster [ruby $(which ign) gazebo-1] [INFO] [1720387508.347355740] [robot2.controller_manager]: Configuring controller 'imu_broadcaster' [ruby $(which ign) gazebo-1] [INFO] [1720387508.347499756] [robot2.imu_broadcaster]: Sensor name: robot2/imu [spawner-22] [INFO] [1720387508.469919666] [robot2_imu_broadcaster_spawner]: Configured and activated robot2/imu_broadcaster [INFO] [spawner-22]: process has finished cleanly [pid 7284] [ruby $(which ign) gazebo-1] [INFO] [1720387510.095300817] [robot1.controller_manager]: Loading controller 'imu_broadcaster' [spawner-23] [INFO] [1720387510.137762421] [robot1_imu_broadcaster_spawner]: Loaded robot1/imu_broadcaster [ruby $(which ign) gazebo-1] [INFO] [1720387510.138761345] [robot1.controller_manager]: Configuring controller 'imu_broadcaster' [ruby $(which ign) gazebo-1] [INFO] [1720387510.138840253] [robot1.imu_broadcaster]: Sensor name: robot1/imu [spawner-23] [INFO] [1720387510.260472560] [robot1_imu_broadcaster_spawner]: Configured and activated robot1/imu_broadcaster [INFO] [spawner-23]: process has finished cleanly [pid 7300] [ekf_node-6] [WARN] [1720387525.265023020] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-7] [WARN] [1720387525.265032607] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-7] [WARN] [1720387525.265190929] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-16] [WARN] [1720387525.265091710] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-16] [WARN] [1720387525.265117310] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [ekf_node-15] [WARN] [1720387525.265145554] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [ekf_node-6] [WARN] [1720387532.416705559] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-7] [WARN] [1720387532.417054032] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-7] [WARN] [1720387532.417086181] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [ekf_node-15] [WARN] [1720387532.417136474] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-16] [WARN] [1720387532.417281210] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-16] [WARN] [1720387532.417281671] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-7] [WARN] [1720387536.501255630] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-7] [WARN] [1720387536.501373309] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. [scan_to_scan_filter_chain-16] [WARN] [1720387536.501313143] [tf2_buffer]: Detected jump back in time. Clearing TF buffer. `

rafal-gorecki commented 4 months ago

Hello @rahul-dev-app,

When simulating multiple robots, each robot sends tf frames to its own topic preceded by a namespace. Thanks to this, frame collisions do not occur. This behavior forces the ts and tf_static topics to be remapped if you want to display frame data (e.g. in RViz).

The warning from tf2_buffer is known to us, but does not cause any major problems.

Please let me know if this solves your problem and if it is understandable.

rahul-dev-app commented 4 months ago

Hi @rafal-gorecki,

Thank you for the prompt response. Yes, that answers my question! I did not look at the topic names and it makes sense that each robot publishes transforms under their namespace. I provided ros_args for the namespace and I was able to view the transforms.

A follow up question on this, I want to run slam.launch with multiple robots. If I want to specify a frame name in the yaml file, for instance, base_link in slam.yaml; how would I go about it? Say if the robot namespace is robot1, would the base_link frame be robot1/base_link?

rafal-gorecki commented 4 months ago

The question is what do you want to achieve:

While the first one is possible and requires rename topic /tf and /tf_static, the second approach requires modifying the slam_toolbox package (unless something has appeared in this matter in recent months).

For the first case, you can run this demo on both robots to achieve the mentioned functionality, by changing ROBOT_NAMESPACE variable. The namespace doesn't change robot's frames, so it stays base_link.

rahul-dev-app commented 4 months ago

Thank you @rafal-gorecki! My goal is to be able to launch a joint slam, but first I wanted to run slam separately on both the robots. I will check out the demo, thank you so much for sharing!