search

linorobot / linorobot2

Autonomous mobile robots (2WD, 4WD, Mecanum Drive)
Apache License 2.0
437 stars 148 forks source link

getting error in ekf #7

Closed raidhu closed 2 years ago

raidhu commented 2 years ago

I'm not using depth sensor.

[ekf_node-2] Warning: Invalid frame ID "base_footprint" passed to canTransform argument target_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "base_footprint" passed to canTransform argument target_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "imu_link" passed to canTransform argument source_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "imu_link" passed to canTransform argument source_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "imu_link" passed to canTransform argument source_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "imu_link" passed to canTransform argument source_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp

grassjelly commented 2 years ago

I need more information about your system. Could you tell me what's your setup like? Robot base, imu, microcontroller, operating system, ROS distro?

raidhu commented 2 years ago

robot base : 4wd imu : 9250 microcontroller : raspberry pi4 operating system : ubuntu20.04.3 (Focal Fossa) ros : ros2 foxy fitzroy laser sensor : ydlidar x2l driver model : 1pwm 1dir pins

and I'm not using depth sensor I didn't mention depth sensor while installation is it need to edit workspace or urdf file.

grassjelly commented 2 years ago

are you getting anything when you echo the following topics?

/imu/data /odom/unfiltered /odom/filtered

raidhu commented 2 years ago

yes

grassjelly commented 2 years ago

which launch file does this happen?

raidhu commented 2 years ago

bringup file

grassjelly commented 2 years ago

can you post your rqt_graph here?

raidhu commented 2 years ago

sorry man I can't able to get rqt_graph it doesn't work properly in ros2

raidhu commented 2 years ago

everything works fine except efk also able to move bot using teleop keyboard. error I'm facing is

ubuntu@uvbot:~/linorobot2_ws$ ros2 launch linorobot2_bringup bringup.launch.py [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2021-11-14-08-47-00-703236-uvbot-3828 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ydlidar_ros2_driver_node-5]: process started with pid [3857] [INFO] [micro_ros_agent-1]: process started with pid [3849] [INFO] [ekf_node-2]: process started with pid [3851] [INFO] [joint_state_publisher-3]: process started with pid [3853] [INFO] [robot_state_publisher-4]: process started with pid [3855] [micro_ros_agent-1] [1636879622.171197] info | TermiosAgentLinux.cpp | init | running... | fd: 3 [micro_ros_agent-1] [1636879622.172139] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4 [micro_ros_agent-1] [1636879622.186130] info | Root.cpp | create_client | create | client_key: 0x7C881CDA, session_id: 0x81 [micro_ros_agent-1] [1636879622.186261] info | SessionManager.hpp | establish_session | session established | client_key: 0x7C881CDA, address: 0 [micro_ros_agent-1] [1636879622.266785] info | ProxyClient.cpp | create_participant | participant created | client_key: 0x7C881CDA, participant_id: 0x000(1) [micro_ros_agent-1] [1636879622.267979] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x7C881CDA, topic_id: 0x000(2), participant_id: 0x000(1) [micro_ros_agent-1] [1636879622.270327] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x7C881CDA, publisher_id: 0x000(3), participant_id: 0x000(1) [micro_ros_agent-1] [1636879622.276638] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x7C881CDA, datawriter_id: 0x000(5), publisher_id: 0x000(3) [micro_ros_agent-1] [1636879622.278927] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x7C881CDA, topic_id: 0x001(2), participant_id: 0x000(1) [micro_ros_agent-1] [1636879622.281726] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x7C881CDA, publisher_id: 0x001(3), participant_id: 0x000(1) [micro_ros_agent-1] [1636879622.284666] info | ProxyClient.cpp | create_datawriter | datawriter created | client_key: 0x7C881CDA, datawriter_id: 0x001(5), publisher_id: 0x001(3) [micro_ros_agent-1] [1636879622.287036] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x7C881CDA, topic_id: 0x002(2), participant_id: 0x000(1) [micro_ros_agent-1] [1636879622.288837] info | ProxyClient.cpp | create_subscriber | subscriber created | client_key: 0x7C881CDA, subscriber_id: 0x000(4), participant_id: 0x000(1) [micro_ros_agent-1] [1636879622.296376] info | ProxyClient.cpp | create_datareader | datareader created | client_key: 0x7C881CDA, datareader_id: 0x000(6), subscriber_id: 0x000(4) [ydlidar_ros2_driver_node-5] [INFO] [1636879622.330339628] [ydlidar_ros2_driver_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1 [ydlidar_ros2_driver_node-5] [ydlidar_ros2_driver_node-5] YDLidar SDK initializing [ydlidar_ros2_driver_node-5] YDLidar SDK has been initialized [ydlidar_ros2_driver_node-5] [YDLIDAR]:SDK Version: 1.0.3 [robot_state_publisher-4] Parsing robot urdf xml string. [robot_state_publisher-4] Link base_link had 7 children [robot_state_publisher-4] Link camera_link had 1 children [robot_state_publisher-4] Link camera_depth_link had 0 children [robot_state_publisher-4] Link front_left_wheel_link had 0 children [robot_state_publisher-4] Link front_right_wheel_link had 0 children [robot_state_publisher-4] Link imu_link had 0 children [robot_state_publisher-4] Link laser had 0 children [robot_state_publisher-4] Link rear_left_wheel_link had 0 children [robot_state_publisher-4] Link rear_right_wheel_link had 0 children [robot_state_publisher-4] [INFO] [1636879622.409395700] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-4] [INFO] [1636879622.409787774] [robot_state_publisher]: got segment base_link [robot_state_publisher-4] [INFO] [1636879622.409879570] [robot_state_publisher]: got segment camera_depth_link [robot_state_publisher-4] [INFO] [1636879622.409915903] [robot_state_publisher]: got segment camera_link [robot_state_publisher-4] [INFO] [1636879622.409944107] [robot_state_publisher]: got segment front_left_wheel_link [robot_state_publisher-4] [INFO] [1636879622.409971903] [robot_state_publisher]: got segment front_right_wheel_link [robot_state_publisher-4] [INFO] [1636879622.409999181] [robot_state_publisher]: got segment imu_link [robot_state_publisher-4] [INFO] [1636879622.410025106] [robot_state_publisher]: got segment laser [robot_state_publisher-4] [INFO] [1636879622.410052477] [robot_state_publisher]: got segment rear_left_wheel_link [robot_state_publisher-4] [INFO] [1636879622.410079606] [robot_state_publisher]: got segment rear_right_wheel_link [ydlidar_ros2_driver_node-5] LiDAR successfully connected [ekf_node-2] Warning: Invalid frame ID "base_footprint" passed to canTransform argument target_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "base_footprint" passed to canTransform argument target_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "base_footprint" passed to canTransform argument target_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "base_footprint" passed to canTransform argument target_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ydlidar_ros2_driver_node-5] [YDLIDAR]:Lidar running correctly ! The health status: good [ydlidar_ros2_driver_node-5] LiDAR init success! [joint_state_publisher-3] [INFO] [1636879624.333609838] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic... [ydlidar_ros2_driver_node-5] [YDLIDAR3]:Fixed Size: 720 [ydlidar_ros2_driver_node-5] [YDLIDAR3]:Sample Rate: 4K [ydlidar_ros2_driver_node-5] [YDLIDAR]:Single Fixed Size: 450 [ydlidar_ros2_driver_node-5] [YDLIDAR]:Sample Rate: 4K [ydlidar_ros2_driver_node-5] [YDLIDAR INFO] Current Sampling Rate : 4K [ydlidar_ros2_driver_node-5] [YDLIDAR INFO] Now YDLIDAR is scanning ...... is that efk related to base link

raidhu commented 2 years ago

echo /odom/unfiltered `header: stamp: sec: 1636880258 nanosec: 801000000 frame_id: odom child_frame_id: base_footprint pose: pose: position: x: 0.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0 covariance:

grassjelly commented 2 years ago

do you have for the imu?

raidhu commented 2 years ago

yes i do have imu

raidhu commented 2 years ago

echo for imu

`header: stamp: sec: 1636882466 nanosec: 221000000 frame_id: imu_link orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 orientation_covariance:

grassjelly commented 2 years ago

Is the warning continuous? Or does it stop? If it stops, that warning shows up right before the imu/odometry is published. If you launch the slam launch file, do you have the same error?

raidhu commented 2 years ago

no the warning from the ekf stops. but in slam launch file continue - the error shown in ros2 launch linorobot2_navigation slam.launch.py is continuously shown.

[async_slam_toolbox_node-1] [INFO] [1636882967.764174681] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1636882967.536 for reason 'Unknown' [async_slam_toolbox_node-1] [INFO] [1636882967.877698649] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1636882967.650 for reason 'Unknown' [async_slam_toolbox_node-1] [INFO] [1636882968.275302731] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1636882967.764 for reason 'Unknown' [async_slam_toolbox_node-1] [INFO] [1636882968.275689398] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1636882967.878 for reason 'Unknown'

grassjelly commented 2 years ago

does it stop as well? Are you able to create a map?

raidhu commented 2 years ago

sorry i can able to get the map

raidhu commented 2 years ago

2021-11-14 (1)

grassjelly commented 2 years ago

as in a complete map?

raidhu commented 2 years ago

no i cant able to move the base_footprint. robot model in the rviz doesn't move. u can see only odom node is moving. 2021-11-14 (2)

grassjelly commented 2 years ago

could you try adding these https://github.com/cra-ros-pkg/robot_localization/blob/ros2/params/ekf.yaml#L23-L27 to this https://github.com/linorobot/linorobot2/blob/master/linorobot2_base/config/ekf.yaml . 0.1 would be a good start

raidhu commented 2 years ago

thankyou so much grassjelly now the ekf error gone.

the robot model in the rviz doesn't move. the map looks uneven i think its something to do with laser pose urdf file.

2021-11-14 (4)

grassjelly commented 2 years ago

Great! Could you please share your updated ekf.yaml here? Would be useful for other users. Please file another issue if you’re having problems with mapping. Thanks

raidhu commented 2 years ago

updated ekf.yaml

`ekf_filter_node: ros__parameters: frequency: 50.0 two_d_mode: true publish_tf: true

    map_frame: map             
    odom_frame: odom            
    base_link_frame: base_footprint 
    world_frame: odom 
    transform_time_offset: 0.1
    transform_timeout: 0.1

    #x     , y     , z,
    #roll  , pitch , yaw,
    #vx    , vy    , vz,
    #vroll , vpitch, vyaw,
    #ax    , ay    , az
    odom0: odom/unfiltered
    odom0_config: [false, false, false,
                   false, false, false,
                   true, true, false,
                   false, false, true,
                   false, false, false]

    imu0: imu/data
    imu0_config: [false, false, false,
                  false, false, false,
                  false, false, false,
                  false, false, true,
                  false, false, false]`