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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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The sample launch/ros2/turtlebot3_rgbd.launch.py outs put some queer navigation2 logs. #850

Open tosa-no-onchan opened 1 year ago

tosa-no-onchan commented 1 year ago

I am trying to test launch/ros2/turtlebot3_rgbd.launch.py, but sometime navigation2 log outs put the following,

 [planner_server-2] [INFO] [1669623367.896801572] [global_costmap.global_costmap_rclcpp_node]: Message Filter dropping message: frame 'base_scan' at time 267.814 for reason 'Unknown'

PC Ubuntu Mate 20.04 ROS2 Foxy Gazebo Turtlebot3 House

How to test.

  1. Edit turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf according to turtlebot3_rgbd.launch.py.
  2. ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py
  3. ros2 launch rtabmap_ros turtlebot3_rgbd.launch.py
  4. ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
  5. ros2 launch nav2_bringup rviz_launch.py

  6. on Rviz2, set Controller off, drive waffle by "Navigation2 Goal" icon. Then, navigation2 out put next INFO messages.

    [planner_server-2] [INFO] [1669625122.612764386] [global_costmap.global_costmap_rclcpp_node]: Message Filter dropping message: frame 'base_scan' at time 306.616 for reason 'Unknown'
[planner_server-2] [INFO] [1669625122.813546408] [global_costmap.global_costmap_rclcpp_node]: Message Filter dropping message: frame 'base_scan' at time 306.816 for reason 'Unknown'

    I checked Rviz2 TF -> Frames -> base_footprint and base_scan. Both values stop somtime for a while at a same time, and begin to update its value again.

At the same time, navigation2 out above INFO logs. I doubt, rtabmap_ros doesn't publish tf-odom->base_footprint topic in a time.

Are there any resolve way?

matlabbe commented 1 year ago

If this doesn't happen often, maybe it is just simulation time issue with the stamp in the base scan topic. I do have sometimes this: [planner_server-2] [INFO] [1669775197.377534105] [global_costmap.global_costmap_rclcpp_node]: Message Filter dropping message: frame 'base_scan' at time 467.631 for reason 'the timestamp on the message is earlier than all the data in the transform cache' But the robot seems able to navigate.

tosa-no-onchan commented 1 year ago

Thank you for your relpy.

I see. I feel, it is on Gazebo side, tf odom -> base_footprint publish are missed some time, too. Then, I am going to check a mismatch among OpenGL and graphic driver.

http://wiki.ros.org/rviz/Troubleshooting https://answers.ros.org/question/11148/rviz-in-ros-electric/?answer=3627%3Fanswer%3D3627#3627