Message Filter dropping message: frame '' at time 0.000 for reason 'the frame id of the message is empty'

ming0071 commented 5 days ago

Required Info:

Operating System: Ubuntu 22.04.4 LTS ROS2 Version: ROS_DISTRO=humble

Hello, I encountered an issue while running my lidarslam setup. In the terminal, I see the following error:

[rviz]: Message Filter dropping message: frame '' at time 0.000 for reason 'the frame id of the message is empty'

Below is the detailed context:

my rqt_graph

tf tree

lidarslam.launch.py

import os

import launch
import launch_ros.actions

from ament_index_python.packages import get_package_share_directory

def generate_launch_description():

    main_param_dir = launch.substitutions.LaunchConfiguration(
        "main_param_dir",
        default=os.path.join(
            get_package_share_directory("lidarslam"), "param", "lidarslam.yaml"
        ),
    )

    rviz_param_dir = launch.substitutions.LaunchConfiguration(
        "rviz_param_dir",
        default=os.path.join(
            get_package_share_directory("lidarslam"), "rviz", "mapping.rviz"
        ),
    )

    mapping = launch_ros.actions.Node(
        package="scanmatcher",
        executable="scanmatcher_node",
        parameters=[main_param_dir],
        remappings=[("/input_cloud", "/velodyne_points")],
        output="screen",
    )

    tf = launch_ros.actions.Node(
        package="tf2_ros",
        executable="static_transform_publisher",
        arguments=["0", "0", "0", "0", "0", "0", "1", "base_link", "VLP16_link"],
    )

    graphbasedslam = launch_ros.actions.Node(
        package="graph_based_slam",
        executable="graph_based_slam_node",
        parameters=[main_param_dir],
        output="screen",
    )

    rviz = launch_ros.actions.Node(
        package="rviz2", executable="rviz2", arguments=["-d", rviz_param_dir]
    )

    return launch.LaunchDescription(
        [
            launch.actions.DeclareLaunchArgument(
                "main_param_dir",
                default_value=main_param_dir,
                description="Full path to main parameter file to load",
            ),
            mapping,
            tf,
            graphbasedslam,
            rviz,
        ]
    )

terminal log

[INFO] [launch]: All log files can be found below /home/scl/.ros/log/2024-11-27-20-57-51-725323-ROG-47113
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [scanmatcher_node-1]: process started with pid [47114]
[INFO] [static_transform_publisher-2]: process started with pid [47116]
[INFO] [graph_based_slam_node-3]: process started with pid [47118]
[INFO] [rviz2-4]: process started with pid [47120]
[static_transform_publisher-2] [WARN] [1732712271.766055027] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-2] [INFO] [1732712271.780805895] [static_transform_publisher_UbBqBZhgn6EKDQ22]: Spinning until stopped - publishing transform
[static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-2] from 'base_link' to 'VLP16_link'
[scanmatcher_node-1] registration_method:NDT
[scanmatcher_node-1] ndt_resolution[m]:2
[scanmatcher_node-1] ndt_num_threads:2
[scanmatcher_node-1] gicp_corr_dist_threshold[m]:5
[scanmatcher_node-1] trans_for_mapupdate[m]:1.5
[scanmatcher_node-1] vg_size_for_input[m]:0.5
[scanmatcher_node-1] vg_size_for_map[m]:0.1
[scanmatcher_node-1] use_min_max_filter:true
[scanmatcher_node-1] scan_min_range[m]:1
[scanmatcher_node-1] scan_max_range[m]:200
[scanmatcher_node-1] set_initial_pose:true
[scanmatcher_node-1] publish_tf:true
[scanmatcher_node-1] use_odom:false
[scanmatcher_node-1] use_imu:false
[scanmatcher_node-1] scan_period[sec]:0.2
[scanmatcher_node-1] debug_flag:false
[scanmatcher_node-1] map_publish_period[sec]:15
[scanmatcher_node-1] num_targeted_cloud:20
[scanmatcher_node-1] ------------------
[scanmatcher_node-1] [INFO] [1732712271.793065089] [scan_matcher]: initialize Publishers and Subscribers
[scanmatcher_node-1] [INFO] [1732712271.796165658] [scan_matcher]: initialization end
[graph_based_slam_node-3] [INFO] [1732712271.810400435] [graph_based_slam]: initialization start
[graph_based_slam_node-3] registration_method:NDT
[graph_based_slam_node-3] voxel_leaf_size[m]:0.1
[graph_based_slam_node-3] ndt_resolution[m]:1
[graph_based_slam_node-3] ndt_num_threads:2
[graph_based_slam_node-3] loop_detection_period[Hz]:3000
[graph_based_slam_node-3] threshold_loop_closure_score:0.7
[graph_based_slam_node-3] distance_loop_closure[m]:100
[graph_based_slam_node-3] range_of_searching_loop_closure[m]:20
[graph_based_slam_node-3] search_submap_num:2
[graph_based_slam_node-3] num_adjacent_pose_cnstraints:5
[graph_based_slam_node-3] use_save_map_in_loop:true
[graph_based_slam_node-3] debug_flag:true
[graph_based_slam_node-3] ------------------
[graph_based_slam_node-3] [INFO] [1732712271.810796157] [graph_based_slam]: initialize Publishers and Subscribers
[graph_based_slam_node-3] [INFO] [1732712271.813243896] [graph_based_slam]: initialization end
[rviz2-4] [INFO] [1732712271.979748395] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1732712271.979793577] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-4] [INFO] [1732712271.992394338] [rviz2]: Stereo is NOT SUPPORTED
[scanmatcher_node-1] [INFO] [1732712272.049361438] [scan_matcher]: create a first map
[rviz2-4] [INFO] [1732712272.090679859] [rviz]: Message Filter dropping message: frame '' at time 0.000 for reason 'the frame id of the message is empty'

Additionally, the /scan_matcher node shows the following parameter:

ros2 param get /scan_matcher global_frame_id
String value is: map

ShameerMasroor commented 2 days ago

Hello,

I am having much of the same issue. How did you get map frame to be published? RVIZ does not see the map frame.

rsasaki0109 commented 1 day ago

It seems that ming0071's issue is puzzling since the map appears to be created. Could it be related to the timestamp or frame ID of the scan point cloud topic? This might be more of a ROS2-related issue than a problem specific to this package, so posting a question on Robotics Stack Exchange could be a good idea.

As for ShameerMasroor, the first step would be to check the terminal output to confirm whether the map is being generated.

rsasaki0109 / lidarslam_ros2