Open ruffsl opened 5 years ago
We get the Drop message: frame 'base_scan' at time 39.802 for reason(0)
messages even without security, although, too many of them is correlated with failure.
Here's what I know.
This message comes from the message filter code in tf. It receives the scan messages, but ends up dropping them out of the buffer before it can transform them and pass them on to the stack. I think we'd see this message if amcl and costmap were not getting the right transforms or were not able to process them fast enough.
There also were some race conditions in the most recent implementation of this code that @jacobperron fixed. There might still be some other problems
I've opened a PR https://github.com/ros-swg/turtlebot3_demo/pull/13 to switch to using dashing release for everything but the newer SROS2 CLI, and if I spam the set initial pose using the script, it seems to work eventually. So I'm thinking this might be a discovery issue, where the subscribers for initial pose don't immediately find the publisher given the initial burst of discovery traffic, missing that adversized by rviz. So by using the ros2 cli to topic publish the pose, eventually upon enough tries in creating/destroying the cli node, the initial pose message finds its mark.
Looks like the amcl and costmap nodes are not subscribing correctly, looking at it from the graph API: (Cropping nodes with no unhidden topics from screenshots in node view in rqt https://github.com/ros-swg/turtlebot3_demo/pull/22)
It seems that amcl is still having issues with dropping scan messages when security is enabled. That, or the tf lookup is having to look into the future for transforms between scan and baselink:
As of b0a41cbb9693b158507fd5768787508af9420cc8 , I've updated the readme with some simple instructions, so please check if you can get the navigation planner to move when using the
secure.conf
. You can also revert 3a1562c8055dc7dbe47e319ed038a4adccd0e9c0 if you'd like rebuild the dockerfile using osrf/ros2:nightly, but I'm not sure if rviz2 is fixed yet: https://github.com/ros-planning/navigation2/issues/1015#issuecomment-525890257 .