RPLIDAR installation issue

Akalpita30 commented 10 months ago

Please provide the following information:

OS: Ubuntu version 22.04
ROS Distro: Humble
Built from source
Package version: H.2.2

Actual behaviour turtlebot4_bringup not found: tried installing with "sudo apt update && sudo apt upgrade" still shows the same error.

To Reproduce Provide the steps to reproduce:

sudo apt install ros-humble-rplidar-ros
ros2 launch turtlebot4_bringup rplidar.launch.py
see the error

Other notes Moreover "ros2 service call /stop_motor std_srvs/srv/Empty {}" doesn't stop the motor.

Akalpita30 commented 10 months ago

Screenshot from 2023-09-11 17-14-42

hilary-luo commented 10 months ago

Are you trying to launch the lidar on the robot? and is the robot software in the original state from factory and/or flashed from the provided turtlebot 4 raspberry pi images?

As background information, why are you directly launching the lidar? If you are trying to do normal operation of the robot then you do not need to launch it directly, it will launch on its own as part of the turtlebot service. I assume this has been operating correctly based on you having seen and tried to use the stop motor service.

In regards to stopping the motor, make sure that you are running version 2.1.4 (or higher) of ros-humble-rplidar-ros. There was a recent fix that has to do with stopping the lidar. Additionally, if you want to manually control the lidar starting / stopping you also need to diable the feature which automatically starts / stops the motor based on the number of subscribers. Information about that can be found in my response here: https://github.com/turtlebot/turtlebot4/issues/233#issuecomment-1660515345

Akalpita30 commented 10 months ago

it is in the original state of the factory. I tried to get the localization scan from the robot; it kept giving inf, and the robot could not avoid the obstacles.

hilary-luo commented 10 months ago

Am I to understand correctly that the core issue that you would like to address is the fact that when you echo the scan topic, the values you receive back are all infinite? and that it was not avoiding the obstacles?

If so, then can you share the following details:

What were you doing when you saw that the robot was not avoiding the obstacles? a. Were you running Nav2 with SLAM or with localization? - what exact commands did you use to launch these? b. Were the obstacles that the robot ran into static or dynamic? and were they in the map or not?
How did you observe these inf values? - are you sure that all of the values are infinite vs some of them being infinite?
Can you see any lidar hits in rviz?

Akalpita30 commented 10 months ago

yes, you got that right.

1a. I am using Nav2 with localization. cmd- ros2 launch turtlebot4_navigation loacalization.launch.py map: ; ros2 launch turtlebot4_navigation nav2.launch.py params_file 1b. i tried with both static and dynamic. it shows on map but the robot instead to avoiding goes and bumps into them.

i used ros2 topic echo /scan- it gives inf values
i can see them

Akalpita30 commented 10 months ago

@hilary-luo do you have any suggestions about the problem

hilary-luo commented 10 months ago

@Akalpita30 Can you please provide the full output from the localization and nav2 terminals and a ROS bag of a replication of a collision event?

Akalpita30 commented 10 months ago

localization-

[amcl-2] [INFO] [1695062133.691560167] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062132.666 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062133.831726601] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062132.801 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062133.970071916] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062132.936 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062134.101710167] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062133.071 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062134.245551955] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062133.219 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062134.381471205] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062133.354 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062134.516233030] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062133.489 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062134.652342046] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062133.624 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062134.784999368] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062133.759 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062134.922607586] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062133.894 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062135.055784281] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062134.029 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062135.193882252] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062134.164 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062135.329504731] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062134.300 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062135.464535910] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062134.435 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062369.044403534] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062367.906 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062369.118651550] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062368.041 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062369.247236225] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062368.176 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062369.366462810] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062368.311 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062369.564007452] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062368.447 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062369.725928093] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062368.594 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062370.030953817] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062368.864 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062370.083046123] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062368.999 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062370.180157421] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062369.146 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062370.313358084] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062369.282 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062370.456644125] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062369.417 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062370.725625789] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062369.699 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062381.576573073] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062380.544 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062381.706809484] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062380.679 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062381.854123477] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062380.827 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062381.996699275] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062380.962 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062382.122846865] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062381.097 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062382.261172355] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062381.232 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062382.393191882] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062381.367 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062382.529136564] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062381.503 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062382.676193328] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062381.650 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062382.809952831] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062381.785 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062382.951963529] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062381.920 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062383.080125255] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062382.055 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062383.219383641] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062382.190 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062383.363831460] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062382.337 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062383.497869630] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062382.473 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062383.639280779] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062382.608 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062383.768816590] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062382.743 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062383.905127876] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062382.878 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062384.051070700] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062383.025 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062384.185336347] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062383.160 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062384.322176023] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062383.296 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062384.456089086] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062383.431 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062384.593640150] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062383.566 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062384.727944378] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062383.701 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062384.877924765] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062383.848 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062385.018681812] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062383.983 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062385.144179745] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062384.118 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062385.283424577] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062384.253 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062385.418651631] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062384.389 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062385.565923188] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062384.536 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062385.696827065] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062384.671 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062385.831675419] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062384.806 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062385.967569854] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062384.941 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062386.103842066] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062385.076 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062386.241618519] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062385.211 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062386.400607509] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062385.359 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062386.519820432] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062385.494 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062390.644569403] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062389.609 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062390.783888826] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062389.756 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062390.918814534] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062389.891 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062391.055917904] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062390.026 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[amcl-2] [INFO] [1695062391.191103226] [amcl]: Message Filter dropping message: frame 'rplidar_link' at time 1695062390.161 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

navigation-

[controller_server-1] [INFO] [1695063372.970102876] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.560 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063372.986052869] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.576 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063372.986259055] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.596 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.027751151] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063372.671 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.044150777] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.660 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.061418326] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.675 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.080485323] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.696 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.093908717] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.695 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.158057471] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063372.807 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.158286581] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.715 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.181054372] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.778 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.181283774] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.775 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.203382198] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.795 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.203595750] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.816 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.206617805] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.835 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.221789767] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.837 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.241289419] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.859 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.257645416] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.876 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.298202273] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063372.942 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.336642646] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.935 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.367265562] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.956 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.394292846] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063372.975 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.415887449] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.001 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.416101877] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.017 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.434033101] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063373.077 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.450621511] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.016 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.451580150] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.036 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.454517104] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.055 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.481366018] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.076 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.481498165] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.096 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.524432825] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.155 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.573830475] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.176 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.576753776] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.175 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.594269476] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063373.224 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.594414326] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.196 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.655990030] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.215 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.657205646] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.257 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.673695268] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.276 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.676487802] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.295 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.683947979] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.316 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.740209648] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063373.359 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.760494086] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.360 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.760805880] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.375 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.768274270] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.396 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.805845621] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.416 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.816130159] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.415 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.849225092] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063373.494 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.877159941] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.441 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.895692339] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.497 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.897739648] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.495 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.922940993] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.516 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.948897305] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.536 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.949127683] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.556 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.949252362] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.575 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063373.978567198] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063373.629 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.008581935] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.615 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.008775505] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.635 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.018070136] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.656 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.106346173] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.655 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.106557385] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.698 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.106655930] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.716 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.117011200] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063373.764 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.117275412] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.736 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.136026119] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.736 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.136162421] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.756 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.154719940] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.776 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.208315619] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.816 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.211144930] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.836 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.249650878] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063373.900 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.301599745] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.856 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.337618207] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.915 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.339937014] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.936 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.355746086] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.956 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.371196767] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.976 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.384661024] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063374.035 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.389463093] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.975 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.436521449] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063373.995 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.454021972] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.017 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.470260477] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.036 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.518267113] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063374.170 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.537771288] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.055 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.542707263] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.055 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.547108538] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.076 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.557516681] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.096 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.559506289] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.156 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.579665086] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.177 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.593485409] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.190 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.596289740] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.216 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.653509095] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063374.305 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.667230953] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.231 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.685121682] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.274 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.690613766] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.296 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.754314287] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.296 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.762167438] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.316 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.775006629] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.336 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.775129436] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.378 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.796473577] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.390 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.798370686] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.391 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.798524193] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063374.440 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.802355832] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.412 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.820852214] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.431 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.821036496] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.455 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.836439810] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.470 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.849579277] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.472 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.915619046] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.530 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.927860088] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063374.575 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063374.941917143] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.531 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.001563381] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.556 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.011498721] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.614 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.049578625] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.630 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.060872560] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.631 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.062010348] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063374.710 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.062163050] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.651 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.066467153] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.671 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.076858428] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.691 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.102889450] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.711 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.103044772] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.711 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.173430289] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.790 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.194912884] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063374.845 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.208335274] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.791 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.288544716] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.811 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.288789664] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.831 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.288955949] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.851 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.295901330] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.893 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.302298262] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.911 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.311899895] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.931 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.318285583] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.951 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.337206488] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063374.980 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.337465657] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.950 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.349986473] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.970 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.359234247] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063374.991 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.378003413] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.015 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.453477191] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.057 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.458293210] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.070 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.461356719] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.090 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.466623422] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063375.116 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.487849654] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.111 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.508354227] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.111 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.538121448] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.131 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.538422643] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.150 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.541204746] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.170 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.598639756] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063375.251 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.669882285] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.279 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.670095264] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.270 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.670194695] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.290 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.689684235] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.311 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.699435450] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.331 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.713193035] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.351 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.736904702] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063375.386 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.737107741] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.350 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.746151917] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.371 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.758745583] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.391 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.776992053] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.410 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.858393969] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.473 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.860447982] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.490 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.871603076] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063375.521 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.880435877] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.511 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.890352536] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.511 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.906662931] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.530 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.917368274] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.551 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.990102092] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.590 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063375.994833897] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.610 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.009902727] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063375.656 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.087263997] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.711 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.097857626] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.730 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.140902732] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063375.791 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.152330990] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.757 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.153745092] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.771 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.159885101] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.790 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.212180542] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.838 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.222982854] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.831 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.226979913] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.851 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.241133956] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.871 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.254044024] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.891 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.274377040] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.910 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.275876635] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063375.926 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.288088887] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.910 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.305543110] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.931 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.387616466] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063375.991 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.422303350] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063376.061 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.423230164] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063376.011 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.439122132] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063376.030 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.439409093] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063376.050 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.468620133] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063376.070 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.468863938] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063376.071 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.487047774] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063376.091 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.501392503] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063376.110 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.501574400] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063376.130 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.554081401] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063376.196 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.587314833] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063376.190 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.599189932] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063376.211 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.599879399] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063376.226 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.606426913] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063376.227 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.626040272] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063376.250 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.651972187] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063376.272 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.657547640] [local_costmap.local_costmap]: Message Filter dropping message: frame 'base_link' at time 1695063376.290 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[controller_server-1] [INFO] [1695063376.680952705] [local_costmap.local_costmap]: Message Filter dropping message: frame 'rplidar_link' at time 1695063376.332 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

bag files- rosbag2_2023_09_18-13_54_15_0.db3 rosbag2_2023_09_18-13_54_11_0.db3 rosbag2_2023_09_18-13_54_10_0.db3 rosbag2_2023_09_18-13_54_07_0.db3

Akalpita30 commented 10 months ago

bag.zip

hilary-luo commented 10 months ago

@Akalpita30 Did those bag files upload correclty? three of them only have one topic and the other isn't showing any topics.

Can you also provide the create3 log from when you replicate this situation?

Akalpita30 commented 10 months ago

create 3 - messages(4).txt

bag- bag09_19.zip

hilary-luo commented 9 months ago

Thank you for your patience, the past couple of weeks have been very busy. It does seem like you are running into the issue of the Create3 CPU maxing out.

Are you needing to run multiple robots together? If not then I would suggest trying to switch to discovery server and see if this helps. Let me know how this goes or if this is not an option for you.

Akalpita30 commented 9 months ago

no, I am not running multiple robots at once. I switched to the discovery server, it shows up obstacles on the rviz. it does reroute around the obstacles on Rviz but goes straight onto the obstacles head-on. let me know if there is another way to solve the issue

Akalpita30 commented 9 months ago

@hilary-luo any updates? i tried running rviz and observed it going and colliding with the wheels of the chairs. I would appreciate it if you could help me with the parameters i should tune to stop that from happening.

Akalpita30 commented 9 months ago

The problem still persists. The robot detects the obstacles but it does not avoid them, instead it crashes into it. Below I am providing some pictures from the terminal, logs, photos of Rviz Map, and a video that illustrates the collision.

So far, the turtlebot4 and the remote computer are connected to the WiFi. I also changed the server to discovery. I would appreciate a feedback to this post in a promptly manner.

@hilary-luo and @roni-kreinin i woulld really appreciate your help on this issue.

The result I got after running ntpd sync

This is the output of ros2 topic list on remote computer

this is output of ros2 topic list from the RPi

installation process for discover server

output from terminal while running nav2. Launch.py command Command used- ros2 launch turtlebot4_navigation nav2. launch.py params_file:=/home/nidiab2/turtlebot_ws/configs/nav2.yamL

output from rviz command terminal

output from localization command terminal COMMAND used- ros2 launch turtlebot4_navigation localtzation. launc h-py map:=office-july13. yamL

logs from create3 platform / messages(4).txt

https://github.com/turtlebot/turtlebot4/assets/87574208/e326b9eb-ad19-41ee-8886-e456bcdf1f86

hilary-luo commented 9 months ago

Thank you for your patience. I don't see any unexpected operation in the video and path planning images. I will explain why and then feel free to let me know if you feel like there is still something that is unexplained.

First off, the lidar is a 2d lidar (as are most lidars that are used for indoor navigation) however, this means that it can only view obstacles on a single plane. These obstacles are denoted by the black pixels in the map or I think in your visualization, the fuschia pink of your costmap. The surrounding blue in the costmap is an envelope area around the obstacles that the centre of the robot will avoid and as the colour changes moving away from the obstacles it will avoid it less and less. (Look up costmap based path planning if you are interested in understanding this further). If you look carefully at your map, only the centre column of the chair is visible to the lidar and is in the map. This means that the robot has no knowledge of the wheels being there. The chair wheels are below the lidar plane and the chair seat is above the lidar plane.

It is standard for lidar based navigation, that environments have to be prepared such that the lidar is able to see all obstacles. One way to evaluate this is to measure the height of your lidar and then go around your environment and measure the height of all of the obstacles. When doing this it is also good to look out for excessively shiny surfaces, surfaces that do not reflect any light, very thin surfaces and windows which are all difficult to detect with lidars. Underhanging and overhanging surfaces can be extended to the lidar plan and or blocked with items that the robot can see. A good visualization of this issue is shown here: https://docs.ottomotors.com/en/30495-30508-overhang-and-underhang-detection.html. Knowing this, if you look at the plan that the robot made and attempted to follow, it made complete sense given its knowledge of the environment.

All that being said, try making this change to address the time sync issue that is showing up in the terminal: https://github.com/turtlebot/turtlebot4/issues/216 . Let me know how that works.

nidia-bucarelli commented 9 months ago

Hello Hilary, Thank you for your answer. I understand the LiDAR reasoning. But, What about the IR sensors? The sensors at the bumper. They at the height of the wheels. Should not this work? Based on the configuration below, we understand they are also working.

This is the Nav2.yaml file.

bt_navigator:
  ros__parameters:
    use_sim_time: True
    global_frame: map
    robot_base_frame: rplidar_link #base_link
    odom_topic: odom
    bt_loop_duration: 10
    default_server_timeout: 20
    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
    plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    - nav2_compute_path_through_poses_action_bt_node
    - nav2_smooth_path_action_bt_node
    - nav2_follow_path_action_bt_node
    - nav2_spin_action_bt_node
    - nav2_wait_action_bt_node
    - nav2_assisted_teleop_action_bt_node
    - nav2_back_up_action_bt_node
    - nav2_drive_on_heading_bt_node
    - nav2_clear_costmap_service_bt_node
    - nav2_is_stuck_condition_bt_node
    - nav2_goal_reached_condition_bt_node
    - nav2_goal_updated_condition_bt_node
    - nav2_globally_updated_goal_condition_bt_node
    - nav2_is_path_valid_condition_bt_node
    - nav2_initial_pose_received_condition_bt_node
    - nav2_reinitialize_global_localization_service_bt_node
    - nav2_rate_controller_bt_node
    - nav2_distance_controller_bt_node
    - nav2_speed_controller_bt_node
    - nav2_truncate_path_action_bt_node
    - nav2_truncate_path_local_action_bt_node
    - nav2_goal_updater_node_bt_node
    - nav2_recovery_node_bt_node
    - nav2_pipeline_sequence_bt_node
    - nav2_round_robin_node_bt_node
    - nav2_transform_available_condition_bt_node
    - nav2_time_expired_condition_bt_node
    - nav2_path_expiring_timer_condition
    - nav2_distance_traveled_condition_bt_node
    - nav2_single_trigger_bt_node
    - nav2_goal_updated_controller_bt_node
    - nav2_is_battery_low_condition_bt_node
    - nav2_navigate_through_poses_action_bt_node
    - nav2_navigate_to_pose_action_bt_node
    - nav2_remove_passed_goals_action_bt_node
    - nav2_planner_selector_bt_node
    - nav2_controller_selector_bt_node
    - nav2_goal_checker_selector_bt_node
    - nav2_controller_cancel_bt_node
    - nav2_path_longer_on_approach_bt_node
    - nav2_wait_cancel_bt_node
    - nav2_spin_cancel_bt_node
    - nav2_back_up_cancel_bt_node
    - nav2_assisted_teleop_cancel_bt_node
    - nav2_drive_on_heading_cancel_bt_node

bt_navigator_navigate_through_poses_rclcpp_node:
  ros__parameters:
    use_sim_time: True

bt_navigator_navigate_to_pose_rclcpp_node:
  ros__parameters:
    use_sim_time: True

controller_server:
  ros__parameters:
    use_sim_time: True
    controller_frequency: 20.0
    min_x_velocity_threshold: 0.001
    min_y_velocity_threshold: 0.5
    min_theta_velocity_threshold: 0.001
    failure_tolerance: 0.3
    progress_checker_plugin: "progress_checker"
    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
    controller_plugins: ["FollowPath"]

    # Progress checker parameters
    progress_checker:
      plugin: "nav2_controller::SimpleProgressChecker"
      required_movement_radius: 0.5
      movement_time_allowance: 10.0
    # Goal checker parameters
    #precise_goal_checker:
    #  plugin: "nav2_controller::SimpleGoalChecker"
    #  xy_goal_tolerance: 0.25
    #  yaw_goal_tolerance: 0.25
    #  stateful: True
    general_goal_checker:
      stateful: True
      plugin: "nav2_controller::SimpleGoalChecker"
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.25
    # DWB parameters
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      debug_trajectory_details: True
      min_vel_x: 0.0
      min_vel_y: 0.0
      max_vel_x: 0.26
      max_vel_y: 0.0
      max_vel_theta: 1.0
      min_speed_xy: 0.0
      max_speed_xy: 0.26
      min_speed_theta: 0.0
      # Add high threshold velocity for turtlebot 3 issue.
      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
      acc_lim_x: 2.5
      acc_lim_y: 0.0
      acc_lim_theta: 3.2
      decel_lim_x: -2.5
      decel_lim_y: 0.0
      decel_lim_theta: -3.2
      vx_samples: 20
      vy_samples: 5
      vtheta_samples: 20
      sim_time: 1.7
      linear_granularity: 0.05
      angular_granularity: 0.025
      transform_tolerance: 0.2
      xy_goal_tolerance: 0.25
      trans_stopped_velocity: 0.25
      short_circuit_trajectory_evaluation: True
      stateful: True
      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
      BaseObstacle.scale: 0.02 #0.02
      PathAlign.scale: 32.0
      PathAlign.forward_point_distance: 0.1
      GoalAlign.scale: 24.0
      GoalAlign.forward_point_distance: 0.1
      PathDist.scale: 32.0
      GoalDist.scale: 24.0
      RotateToGoal.scale: 32.0
      RotateToGoal.slowing_factor: 5.0
      RotateToGoal.lookahead_time: -1.0

local_costmap:
  local_costmap:
    ros__parameters:
      update_frequency: 5.0
      publish_frequency: 2.0
      global_frame: odom
      robot_base_frame: base_link #rplidar_link #base_link
      use_sim_time: True
      rolling_window: true
      width: 3
      height: 3
      resolution: 0.06
      robot_radius: 0.175
      plugins: ["static_layer", "voxel_layer", "obstacle_layer", "inflation_layer"]
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 4.0 #4.0
        inflation_radius: 0.3 #0.45
      voxel_layer:
        plugin: "nav2_costmap_2d::VoxelLayer"
        enabled: True
        publish_voxel_map: True
        origin_z: 0.0
        z_resolution: 0.05
        z_voxels: 16
        max_obstacle_height: 2.0 #2.0
        mark_threshold: 0
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0 #2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 2.5 #3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5 #2.5
          obstacle_min_range: 0.0
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: "ir_obstacle"
        ir_obstacle:
          topic: /ir_obstacle
          max_obstacle_height: 2.0 #2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0 #3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5 #2.5
          obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      always_send_full_costmap: True

global_costmap:
  global_costmap:
    ros__parameters:
      update_frequency: 1.0
      publish_frequency: 1.0
      global_frame: map
      robot_base_frame: base_link #rplidar_link #base_link
      use_sim_time: True
      robot_radius: 0.175
      resolution: 0.06
      track_unknown_space: true
      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
      obstacle_layer:
        plugin: "nav2_costmap_2d::ObstacleLayer"
        enabled: True
        observation_sources: scan
        scan:
          topic: /scan
          max_obstacle_height: 2.0 #2.0
          clearing: True
          marking: True
          data_type: "LaserScan"
          raytrace_max_range: 3.0 #3.0
          raytrace_min_range: 0.0
          obstacle_max_range: 2.5 #2.5
          obstacle_min_range: 0.0
      static_layer:
        plugin: "nav2_costmap_2d::StaticLayer"
        map_subscribe_transient_local: True
      inflation_layer:
        plugin: "nav2_costmap_2d::InflationLayer"
        cost_scaling_factor: 4.0 #4.0
        inflation_radius: 0.3 #0.45
      always_send_full_costmap: True

planner_server:
  ros__parameters:
    expected_planner_frequency: 20.0
    use_sim_time: True
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"
      tolerance: 0.5
      use_astar: false
      allow_unknown: true

smoother_server:
  ros__parameters:
    use_sim_time: True
    smoother_plugins: ["simple_smoother"]
    simple_smoother:
      plugin: "nav2_smoother::SimpleSmoother"
      tolerance: 1.0e-10
      max_its: 1000
      do_refinement: True

behavior_server:
  ros__parameters:
    costmap_topic: local_costmap/costmap_raw
    footprint_topic: local_costmap/published_footprint
    cycle_frequency: 10.0
    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
    spin:
      plugin: "nav2_behaviors/Spin"
    backup:
      plugin: "nav2_behaviors/BackUp"
    drive_on_heading:
      plugin: "nav2_behaviors/DriveOnHeading"
    wait:
      plugin: "nav2_behaviors/Wait"
    assisted_teleop:
      plugin: "nav2_behaviors/AssistedTeleop"
    global_frame: odom
    robot_base_frame: base_link #rplidar_link #base_link
    transform_tolerance: 0.1
    use_sim_time: true
    simulate_ahead_time: 2.0
    max_rotational_vel: 1.0
    min_rotational_vel: 0.4
    rotational_acc_lim: 3.2

robot_state_publisher:
  ros__parameters:
    use_sim_time: True

waypoint_follower:
  ros__parameters:
    use_sim_time: True
    loop_rate: 20
    stop_on_failure: false
    waypoint_task_executor_plugin: "wait_at_waypoint"
    wait_at_waypoint:
      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
      enabled: True
      waypoint_pause_duration: 200

velocity_smoother:
  ros__parameters:
    use_sim_time: True
    smoothing_frequency: 20.0
    scale_velocities: False
    feedback: "OPEN_LOOP"
    max_velocity: [0.26, 0.0, 1.0]
    min_velocity: [-0.26, 0.0, -1.0]
    max_accel: [2.5, 0.0, 3.2]
    max_decel: [-2.5, 0.0, -3.2]
    odom_topic: "odom"
    odom_duration: 0.1
    deadband_velocity: [0.0, 0.0, 0.0]
    velocity_timeout: 1.0

hilary-luo commented 9 months ago

The IR sensors do not integrate into Nav2 by default. Nav2 is only using the lidar data. In regards to the nav2 config you have provided, the obstacle layer / IR obstacle section that has been added is an interesting modification. The create3 IR sensor information is published under the /ir_intensity topic and with type irobot_create_msgs/msg/IrIntensityVector. Based on this config it would seem that you are trying to interpret the IR sensors as laserscans off of an /ir_obstacle topic. This would require custom code running to create the new topic, translate the data into the laserscan format and then publish the data on the new topic. This in addition to thorough testing to make sure that the obstacle layer plugin has been configured properly. If these modifications aren't working how you or your team intended, then you should revisit how that data is being published (or even that it is being published) and how that does or does not translate into Nav2.

Akalpita30 commented 9 months ago

Thank you for bringing this issue to notice. We forgot to run the code for ir_intensity. We are using a custom code for ir_intensity. We are running the custom code using the command - ros2 launch tb4_ir obstacles.launch.py.

After doing this we observed that the robot was updating the position of small obstacles (the pink-ish) is showing but it kept on trying to navigate through it. There were instances where the robot would back up and try to navigate through the obstacle again. I am attaching the video below showing the collision. We are not sure if there is a parameter under Nav2 that we need to configure so it does not go through it.

Would you please elaborate on your comment about the "obstacle layer plugin has been configured properly." and "then you should revisit how that data is being published (or even that it is being published) and how that does or does not translate into Nav2."

Here is the video:

https://github.com/turtlebot/turtlebot4/assets/87574208/8f341e65-e6a7-403b-b845-4af575688b90

This is how the rviz screen looks like: Screenshot from 2023-10-13 16-48-08

This is the custom code we are using tb4_ir.zip

This is the nav2.yaml file. nav2.zip

hilary-luo commented 9 months ago

Unfortunately I don't have the time to delve into this too deeply. Since it does sound like the turtlebot4 is working properly, I would encourage you to reach out on robotics stack exchange or on the nav2 repo to better understand how that obstacle layer plugin should work, and whether or not you have set it up correctly.

hilary-luo commented 8 months ago

This issue is being closed due to inactivity. If you are still experiencing the issue, feel free to reopen this ticket when you are ready to continue the troubleshooting process.

turtlebot / turtlebot4

RPLIDAR installation issue #267