Long term Objective: Provide gps co-ordinates as goal / way points and autonomously navigate robot to the destination with the help of Nav2 stack by using slam_toolbox I use the robot state publisher to publish the transform between the base footprint and the rest of the robot. [1625892725.336256970] [rviz]: Message Filter dropping message: frame 'laser_frame' at time 1625892723.515 for reason 'Unknown' . Going back to your use of JetPack 5 for its Ubuntu 20.04 support, the most recently supported JetPack in the RealSense SDK is L4T 32.6.1 (JetPack 4.6). I'm using slam_toolbox default configuration (online_async), only remapping the robot's base frame to base_link. I don't know if this is important but just to have everything in: I am filtering my lasermessage with an own node so it produces only 180 scan instead of 270. When I launch the cartographer via: I'm pretty new to ROS2, so I have been trying to do simple mapping with a turtlebot3 using slam toolbox. Hello @MartyG-RealSense, thanks for your reply. If calibrating the imu is the only way to get it functioning within ros, then I will follow the linked guide or use an external imu, but I'd like to avoid making too many changes to my current setup if possible. The user in that case found that setting the RealSense ROS wrapper to 15 FPS instead of 30 (I assume that it was the depth FPS that was configured) reduced the frequency of the warning but did not eliminate it entirely. This support was added in the current 2.50.0 librealsense SDK. rev2022.12.11.43106. Using tf2 to generate a permanent map transform, Slam_toolbox message filter dropping message, https://docs.ros.org/en/foxy/Tutorials/tf2.html, https://wiki.ros.org/navigation/Tutorials/RobotSetup, https://wiki.ros.org/navigation/Tutorials/RobotSetup/TF, https://www.robotandchisel.com/2020/08/19/slam-in-ros2/, Creative Commons Attribution Share Alike 3.0. Running ROS2 on Ubuntu 20.04.04. In their case though, the reason given was 'discarding message because the queue is full' instead of 'unknown'. I looked to calibrate the imu, as I have not done that yet, but I was unable to run the calibration script as I did not install librealsense with pyrealsense2. Sign in Are the S&P 500 and Dow Jones Industrial Average securities? Noting that the documentation for slam_toolbox refers to ROS2 Eloquent but not the Foxy version that you are using, I wondered whether the issue may be related to Foxy. IMU information is not displayed in this mode. Could not providing a transform for the scanner frame be the issue? https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i. But this may be still be due to my tf tree. Please. Could not providing a transform for the scanner frame be the issue? Have a question about this project? Well occasionally send you account related emails. When set to true, this setting gathers the closest frames of different sensors to be sent with the same time tag. filter f_not_ldap { not match ("slapd" value (PROGRAM)); }; log { source (s_udp); filter (f_not_asa); filter (f_not_dbg); filter (f_not_ldap); destination (d_messages); destination (d_logserver); }; But those slapd entries are still going to my remote log server. Does illicit payments qualify as transaction costs? I am able to echo data from /camera/gyro/sample and /camera/accel/sample though, so perhaps the odometry from the L515 will be more viable for SLAM? slam-toolbox for mapping and running everything off of a Raspberry Pi 4 4GB with Ubuntu Mate Currently, I am able to get LIDAR readings to successfully be viewed in RVIZ. [sync_slam_toolbox_node-11] [INFO] [1634914326.583770657] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1634914326.514 for reason 'Unknown' [sync_slam_toolbox_node-11] [INFO] [1634914326.600718148] [slam_toolbox]: Message Filter dropping message: frame 'laser' at time 1634914326.583 for reason 'Unknown' [lifecycle . I'm pleased to hear that you resolved your RViz warnings and look forward to your next test results. I'm still receiving the same slam_toolbox error even after setting the date : [sync_slam_toolbox_node-1] [INFO] [1656359973.404130764] [slam_toolbox]: Message Filter dropping message: frame 'camera_depth_frame' at time 1656359973.404 for reason 'Unknown'. privacy statement. Thank you so much for all your research and suggestions. By the way, I notice in your -DFORCE_RSUSB_BACKEND:=false instruction that you have put a colon - : - before the equals sign. No map received SLAM Toolbox. for reason 'Unknown'" External Requests rviz2, error padin September 11, 2022, 5:15pm #1 I'm just following the Turtlebot3 tutorial and running the SLAM node. Here is the log when I enable the Motion Module in realsense-viewer: And my terminal window prints this message: I see that your Viewer window is in 3D mode. This package contains a base class upon which to build specific implementations as well as an interface which dynamically loads filters based on runtime parameters. ros2 launch slam_toolbox online_sync_launch.py, In rviz I add /map topic, no map received. . I tried using unite_imu_method:=copy and unite_imu_method:=linear_interpolation but neither option showed data being published. Let me know if you have any recommendations as to how to help. Should I be receiving a map or have I missed something? I will have to look into that third-party tool! [1] https://docs.ros.org/en/foxy/Tutorials/tf2.html, [2] https://wiki.ros.org/navigation/Tutorials/RobotSetup, [3] https://wiki.ros.org/navigation/Tutorials/RobotSetup/TF, [4] https://www.robotandchisel.com/2020/08/19/slam-in-ros2/. slam _ toolbox . A message filter is defined as something which a message arrives into and may or may not be spit back out of at a later point in time. I can also get one or two frames of a map to be built. Thank you for your thorough troubleshooting with me. Please assist. Take the dataset and show that you can make it happen in some way relatively consistently Take the dataset and run it again except this time, use a laser filter on the RP lidars data to make it look like a 270 degree laser, and give that filtered output to slam toolbox. In essence TagSLAM is a front-end to the GTSAM optimizer which makes it easy to use AprilTags for visual SLAM. Hi all, I'm facing a problem using the slam_toolbox package in localization mode with a custom robot running ROS2 Foxy with Ubuntu 20.04 I've been looking a lot about how slam and navigation by following the tutorials on Nav2 and turtlebot in order to integrate slam_toolbox in my custom robot. Help us identify new roles for community members, Proposing a Community-Specific Closure Reason for non-English content, dependency slam is not available when installing TM package. I'm going to begin exploring other options for odometry and/or different slam packages. If you have seen any promising applications, let me know! There was also a case of ROS Motion Module Failure at #1960 (comment) where the cause of the failure may have been related to doing a rosbag record of a lot of topics, as reducing the number of topics being recorded apparently solved the error. Adding it to the tf-broadcaster gave me seconds and nanoseconds in the transform message and the slam was working. I was simply trying to feed data from that sensor to slam_toolbox, and to view it in RViz. Good luck! Last Updated: 2021-11-17 odom->base_link transform other than by publishing my own via a static_tf_publisher. I want to use slam_toolbox and visualize data from the lidar like it can be done in cartographer. ros2 launch nav2_bringup navigation_launch.py [controller_server-1] [INFO] [1646771670.720067917] [local_costmap.local_costmap_rclcpp_node]: Message Filter dropping message: frame 'laser' at time 1646771670.173 for reason 'the timestamp on the message is earlier than all the data in the transform cache' ros2 launch slam_toolbox online_async_launch.py . instead of using unite_imu_method:=copy I use unite_imu_method:=1, which allows the /camera/imu topic to echo data! In Rviz my TF looks clean, instead of map with the warning: No transform from [map] to [base_link]. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. My build has not been successful, and I have been unable to find a workaround or anyone with a similar setup of the Jetson Xavier NX with Jetpack 5.01 (Ubuntu 20.04). We do not currently allow content pasted from ChatGPT on Stack Overflow; read our policy here. Then I expect to view visualization in rviz2. I have not seen many examples, and those that I have noticed are for ROS1 only: SSL SLAM. I'll look into this, as I am receiving warnings from RVIZ. Hey @pfedom I'm facing a similar problem when i launch slam toolbox online sync, I got "no map received warning" in rviz and "[rivz]: Message Filter dropping message: frame 'base_scan' at time 1594996830.893 for reason 'Unknown' " In rviz2 I can see topics /slam_toolbox/scan_visualization But it doesn't visualize lidar data in rviz. privacy statement. Also, have you tried accessing the IMU topics without slam_toolbox and depthimage_to_laserscan being active? As an update, I have modified the tf tree to resolve the rviz warnings, and I am now receiving a different output from my slam_toolbox terminal: Thanks very much @RNorlie for your update. Sorry, my mistake If you are using a RealSense ROS wrapper launch to publish the depth topic then the depth stream FPS could be custom-configured from the roslaunch instruction or by editing the launch file. Adding a bit more details with regards to your solution would be helpful for future viewers. Is there any other way to get the imu on the D435i functioning without jumping through all these other hoops? Message Filter dropping message: frame 'scan' for reason 'Unknown'. In console with slam_toolbox I got only following warning: [sync_slam_toolbox_node-1] [INFO] [1661430634.973317229] [slam_toolbox]: Message Filter dropping message: frame 'cloud' at time 1650563651.362 for reason 'discarding message because the queue is full'. That user was using the robot_localization package, which Intel's own D435i SLAM guide also makes use of. slam-toolbox does the transform from map -> odom the iRobot Create node has other transforms from base_link to wheels, bumpers, etc and it also publishes odom data using tf2, i'm publishing a. Thanks for all your help! I just missed it when I created the tf-broadcaster. If so, are there any third-party calibration tools that I could use that don't require pyrealsense2? When the robot starts to move, the lidar readings update, but the map itself does not. I used the robot localization package to fuse the imu data with the wheel encoder data, set to publish the odom->base_footprint transform, then, the slam toolbox creates the map->odom transform. There is an installation guide provided by a RealSense user at IntelRealSense/librealsense#6964 (comment) that was designed for Jetson Nano but was confirmed by the guide's author to work on Xavier NX too. Hello. Running ros2 topic echo /camera/depth/image_rect_raw confirms that the node is indeed publishing data to the topic. My Odom msg is published by the wheels with frame_id: odom and child_frame_id: base_footprint. the rs-motion demo was functioning just fine on my previous build, but I wasn't able to get imu data inside a node or in the realsense-viewer. Not the answer you're looking for? Thanks in advance. I may open a new issue later if I find that I also need the D435i imu functioning, but with the L515 imu working, I don't suspect that will be a problem. Thank you for your help! Already on GitHub? [INFO] [1669964397.645647011] [rviz2]: Message Filter dropping message: frame 'map' at time 1669964382.642 for reason 'discarding message because the queue is full' [async_slam_toolbox_node-1] [INFO] [1669950284.306803018] [slam_toolbox]: Message Filter dropping message: frame 'lidar_link' at . Can we keep alcoholic beverages indefinitely? Apologies if this is a repeat issue. Can see data on every topic. [rviz2-7] [INFO] [1648782355.269898309] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1646639543.378 for reason 'Unknown'. I look forward to hearing the results of your testing with robot_localization. Do you have any ideas as to why that might be? slam-toolbox for mapping and running everything off of a Raspberry Pi 4. Thanks. Got it. So we have lidar topic /scan, slam_toolbox subscribes on it. If you have exhausted all of your ideas as to what the issue may be, we may have to chalk it up to the system running on the unsupported JetPack 5 and search for alternative solutions, if need be. I note that you have already tried echoing the. Ready to optimize your JavaScript with Rust? Find centralized, trusted content and collaborate around the technologies you use most. You signed in with another tab or window. I modified launch file of lidar scanner, like this was described in this ros forum. So I am left with my latest issue of trying to rebuild librealsense with the -DBUILD_PYTHON_BINDINGS:bool=true option. Stack Overflow. message_filters is a utility library for use with roscpp and rospy. To subscribe to this RSS feed, copy and paste this URL into your RSS reader. Hello, I am consulting this reddit as I keep receiving this message on my terminal while running the slam toolbox, and i do not see any map updates. Currently, I am able to get LIDAR readings to successfully be viewed in RVIZ. Thank you for the information! [sync_slam_toolbox_node-1] [INFO] [1655749660.269013418] [slam_toolbox]: Message Filter dropping message: frame 'camera_depth_frame' at time 1655749660.222 for reason 'Unknown' I'm unsure if I need to tweak some of the parameters within the realsense node, or the toolbox node. Why do quantum objects slow down when volume increases? Browse other questions tagged, Where developers & technologists share private knowledge with coworkers, Reach developers & technologists worldwide, Your answer could be improved with additional supporting information. I receive message. To learn more, see our tips on writing great answers. So the imu is functioning in the viewer and rs-motion, but I am still unable to echo the data from a ros topic. Message Filter dropping message: frame 'scan' for reason 'Unknown' #491 Closed maksimmasalski opened this issue on Apr 27 maksimmasalski commented on Apr 27 Operating System: Ubuntu 20.04.4 LTS (Focal Fossa) Installation type: Cloned slam-toolbox repo, switched to foxy-devel branch ROS Version ROS2 foxy Laser unit: (Ubuntu 18.04 with Eloquent) When starting the online async node (or sync, I tested both) this message gets spammed and no map is produced: [slam_toolbox-1] [INFO] [slam_toolbox]: Message Filter dropping message: frame 'base_scan' at time 1594996830.893 for reason 'Unknown' Making statements based on opinion; back them up with references or personal experience. Note that rs-motion does work as intended. https://www.sick.com/cz/en/safety-laser-scanners/safety-laser-scanners/nanoscan3/c/g507056, https://github.com/SICKAG/sick_safetyscanners2, https://answers.ros.org/question/357762/slam_toolbox-message-filter-dropping-message/, Message type sensor_msgs/msg/LaserScan is not detected by slam toolbox, Cloned slam-toolbox repo, switched to foxy-devel branch. @Shneider1m7 did you figure out what was the issue? Sign up for a free GitHub account to open an issue and contact its maintainers and the community. Is there a Node for general data frame transforms? I hope this is well explained. Setup details: ROS2 foxy on amd64 architecture CPU with nav2 and slam_toolbox installed. Affix a joint when in contact with floor (humanoid feet in ROS2), Colcon fails to build Python package: "error in 'egg_base'", terminal outputs appear after KeyboardInterrupt, [ROS2] TF2 broadcaster name and map flickering, [slam_toolbox]: Message Filter dropping message: for reason 'discarding message because the queue is full', tf::createQuaternionFromYaw equivalent in ros2, Odom frame initialized at 180 degrees to base_link. One weird thing is that, when I set my fixed frame to base_link, base_footprint or base_scan on my rviz2, I can see the laserscan but when it is set to odom or map, I cannot see the laserscan. How can you know the sky Rose saw when the Titanic sunk? The topics /camera/depth/camera_info, /camera/depth/image_rect_raw, and /scan all appear to be publishing properly, however instead of publishing to /map, the slam_toolbox terminal repeatedly gives the following output: I'm unsure if I need to tweak some of the parameters within the realsense node, or the toolbox node. All run on the same machine for now. [sync_slam_toolbox_node-1] [INFO] [1661430634.973317229] [slam_toolbox]: Message Filter dropping message: frame 'cloud' at time 1650563651.362 for reason 'discarding message because the queue is full' Questions Should I be receiving a map or have I missed something? I thought it could be a transform problem so I checked the transform in rviz2 but it seems fine as well (see image), the full tree for the transforms is shown and on I hid all the transforms except base_scan and map, which shows that the transform exists. To understand why I needed to do this I went through Link [2] which led to Link [3]. I know turtlebot3 has a pre-built package but I am trying to do things on my own, after experimenting with the turtlebot3 package. Hello @MartyG-RealSense I have looked into the warning: [WARN] [1655843318.093144103] [slam_toolbox]: Failed to compute odom pose. Slam Toolbox "Message Filter dropping message". I am trying to start mapping with slam_toolbox. https://navigation.ros.org/setup_guides/odom/setup_odom.html. https://github.com/SteveMacenski/slam_toolbox, A Foxy user of slam_toolbox who was dropping messages found that a solution that worked for them was to set the time with the command sudo date -s$(date -Ins), https://www.reddit.com/r/ROS/comments/tth202/ros2_foxy_issues_with_using_slam_toolbox_to_map/. Thanks very much for the further information. This post didn't solve my problems completely, but it did lead me to the proper solution so I figure I'll leave my 2-cents for the next person seeking a solution. Thank you for your continued support! By clicking Sign up for GitHub, you agree to our terms of service and Hi @MartyG-RealSense. I used the robot localization package to fuse the imu data with the wheel encoder data, set to publish the odom->base_footprint transform, then, the slam toolbox creates the map->odom transform. I am replacing the unneccesary points with NAN. I think it is a rootcause. Here starts the problems: The terminal is spamming these: [1641398181.499569062] [slam_toolbox]: Message Filter dropping message: frame 'camera_depth_frame' at time 1641398181.448 for reason 'discarding message because the queue is full' To see the IMU data you should click on the '2D' option. I am using slam-toolbox for mapping and nav2 for navigating. The transform from odom to base_footprint (wheel_odometry frame_id to child_frame_id) was missing the header.stamp part. Do you have any other ideas as to what the issue may be? Sorry if I'm necro-ing an old post, but I stumbled-upon this same error when getting started with ROS2 (as a complete newbie) and this and the OP's link to the SLAM Toolbox github issues page are literally the only places online mentioning this error message. I'm attempting to run slam_toolbox with my D435i using depthimage_to_laserscan as a bridge for the data. (e.g. to your account, I'm using https://github.com/SICKAG/sick_safetyscanners2 A ROS2 Driver which reads the raw data from the SICK Safety Scanners and publishes the data as a laser_scan msg. The Viewer's log can be expanded open by left-clicking on the small upward triangle at the bottom corner of the Viewer window. https://github.com/SteveMacenski/slam_toolbox. Are you aware of any implementations of the L515 to obtain odometry within ROS2? For more technical details, have a look at this draft paper. Thank you for helping me reach full functionality with my realsense cameras. I created static transform publishers as per Link [1] below. The text was updated successfully, but these errors were encountered: You need real odometry, but in general please look at ros answers, unfortunately I don't have the bandwidth to help fix folks' individual configuration issues. Would it be possible, given current technology, ten years, and an infinite amount of money, to construct a 7,000 foot (2200 meter) aircraft carrier? It's crude, but I simply added these three static transform publishers to my launch file (which is a combination of one provided by an existing RPLidar ROS2 fork and Link [4]) and ceased having errors completely: Please start posting anonymously - your entry will be published after you log in or create a new account. running top shows that the realsense2_camera node is at ~80% cpu usage, and no other nodes take up a significant amount. Melodic #326 Noetic #325 Thank you for helping me get this far! Turns out it was a clock sync issue, solved it by ssh into the pi, then sudo date -s$(date -Ins) to set the time. (Ubuntu 18.04 with Eloquent) When starting the online async node (or sync, I tested both) this message gets spammed and no map is produced: I am publishing my daser data to base_scan and my TF-Tree looks like this: Is calibrating the imu required to get it functioning in ros? Can anybody tell me what I'm doing wrong? otherwise I will likely move forward with investing in some encoders for wheel odometry and close the issue. Would salt mines, lakes or flats be reasonably found in high, snowy elevations? If this is not the appropriate place to ask for help, I can take this over to rosanswers, but I'd appreciate any insight you might have! confusion between a half wave and a centre tapped full wave rectifier, Arbitrary shape cut into triangles and packed into rectangle of the same area. I use the robot state publisher to publish the transform between the base footprint and the rest of the robot. My odometry transform was missing the timestamp. So I could not rule out that the ROS problem with IMU data is related to use of JetPack 5. This support was added in the current 2.50.0 librealsense SDK. IntelRealSense/librealsense#6964 (comment). I've tried unplugging and replugging the camera in after starting the node, and the warning persisted, and the only way I am able to obtain imu data in ros is still from topics /camera/accel/sample and /camera/gyro/sample Perhaps there is a way to utilize these topics through remapping or using some other package that subscribes to these topics. So I could not rule out that the ROS problem with IMU data is related to use of JetPack 5. I want to use SLAM Toolbox (https://github.com/SteveMacenski/slam_toolbox) but I get a WARNING: No map received in RVIZ. The only real obstacle was understanding the similarities between ROS1 and ROS2, both of which I'm still very new to at time of writing. I do not see any data when I echo /camera/imu with the different unite_imu_method settings nor /camera/gyro/imu_info and /camera/accel/imu_info when I omit unite_imu_method. In the linked guide, the user builds v2.38.1 which would require me to build v3.1.1 of the ros wrapper, which would also require using an eol version of ros2 and an OS downgrade. By clicking Accept all cookies, you agree Stack Exchange can store cookies on your device and disclose information in accordance with our Cookie Policy. If you need any more information just let me know and i will update the question. So far, I have managed to create the transforms from map->odom->base_footprint, which is my base frame. How is Jesus God when he sits at the right hand of the true God? Robot is Clearpath husky with Velodyne VLP-16 lidar, IMU and GPS sensor in gazebo. to your account. The Construct ROS Community Map is frozen + " [rviz2]: Message Filter dropping message. where and how did you add the missing timestamp.) I've setup all the prerequisite for using slam_toolbox with my robot interfaces: launch for urdf and . You signed in with another tab or window. Let me know if you can make it happen then. If you need more information just comment again please. A RealSense team member advises a ROS-using D435i owner at IntelRealSense/librealsense#5901 who was experiencing the (backend-hid.cpp:715) HID set_power 1 failed message that it is for information only and can be ignored if there is not the problem of no IMU data. How do I arrange multiple quotations (each with multiple lines) vertically (with a line through the center) so that they're side-by-side? If calibration is not the sole reason imu data is not being published in ros, how else might I troubleshoot to get data published? odom->base_footprint. ROS2 DasingROS2 SLAM cartographer Eloquent slam _ toolbox SLAM .. Are you performing any recording? Is it correct to say "The glue on the back of the sticker is dying down so I can not stick the sticker to the wall"? This instruction does not use a colon as it only needs to be included if using 'bool' in the instruction, like with -DBUILD_PYTHON_BINDINGS:bool=true. I also have neither an "odom_frame" nor a "base_frame" in my current setup, which appears to be required. By clicking Sign up for GitHub, you agree to our terms of service and Hi @MartyG-RealSense, thanks for your response! I am not using a bridge but the error output seems to be the same. When building from source on Jetson I would recommend using -DFORCE_RSUSB_BACKEND=true to build librealsense with the RSUSB backend, which is not dependent on Linux versions or kernel versions and does not require patching. I was unsure which setting the user altered in the link that you shared. I will continue researching and testing with the robot_localization package, and report back how well it works. I receive the following error after inputting: cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true -DBUILD_WITH_CUDA=true -DFORCE_RSUSB_BACKEND:=false -DBUILD_PYTHON_BINDINGS:bool=true. https://answers.ros.org/question/393773/slam-toolbox-message-filter-dropping-message-for-reason-discarding-message-because-the-queue-is-full/. odom -> base_fooprint -> base_link -> base_scan. I also note that you were not able to display IMU data in realsense-viewer. I would like to know if anyone had succeded to integrate and use slam_toolbox localization . Site design / logo 2022 Stack Exchange Inc; user contributions licensed under CC BY-SA. The Slam Toolbox package incorporates information from laser scanners in the form of a LaserScan message and TF transforms from odom->base link, and creates a map 2D map of a space. Message Filter dropping message: frame 'base_link' at time 76.610 for reason 'Unknown' But you are right, it's not related to navigation, I get in in Slam Toolbox as well and it doesn't affect the mapping. Rather than a full robot I was strictly working with a SLAMTech RPLidar A1M8 LIDAR sensor. Going back to your use of JetPack 5 for its Ubuntu 20.04 support, the most recently supported JetPack in the RealSense SDK is L4T 32.6.1 (JetPack 4.6). Counterexamples to differentiation under integral sign, revisited. The text was updated successfully, but these errors were encountered: Hi @RNorlie At the ROS Answers link below there was another person with a Jetson Xavier NX who experienced the Message Filter dropping message: frame 'camera_depth_frame' warning with a RealSense D455 camera, the SLAM Toolbox and depth_image_to_laserscan. Thanks for contributing an answer to Stack Overflow! Adding it got the slam working ! This camera does not have the Motion Module Failure message, but it does display this message upon launching the node. Connect and share knowledge within a single location that is structured and easy to search. Well occasionally send you account related emails. Do non-Segwit nodes reject Segwit transactions with invalid signature? Good luck! The user did mention the potential of there being a tf tree issue. Your results make sense. When I try to run the camera, depthimage_to_laserscan, and slam_toolbox nodes with this device, I receive the same message as I did with the D435i: I suspect there is a simple fix to this issue, but I'm not familiar enough with ros2 or these devices. It collects commonly used message "filtering" algorithms into a common space. The simple answer to my problem (hinted-at by the OP, @pfedom), was that I needed to read the instructions and add several instances of the tf2_ros package to my Python launch file. These are the only available parameters relating depth in rqt. [localization_slam_toolbox_node-1] [INFO] [1669298864.285423435] [slam_toolbox]: Message Filter dropping message: frame 'lidar_1' at time 1669298864.243 for reason 'Unknown' I've been trying to investigate about my problem but without getting any clue. Have a question about this project? I run it by default on one terminal window using command, Then in another terminal window I run slam_toolbox using command. In the config file, I define base_frame as, I publish Odometry (without velocities, just position) to topic /odom, I provide transform: I think your best bet is filing a question on ros answers. The node publishes correct messages when I check with ros2 topic echo scan but it fails to get them sh. Why does the USA not have a constitutional court? Are you performing any recording? It's excellent news that you were able to receive data from the /imu topic after adjusting the unite_imu_method setting! I tried using the -DFORCE_RSUSB_BACKEND=true flag, and I got the same error. Unless I am supposed to configure something outside of the node, I'm not sure what would accomplish this. [realsense2_camera_node-1] 23/06 13:53:29,091 WARNING [281471730301344] (backend-hid.cpp:715) HID set_power 1 failed for /sys/devices/platform/3610000.xhci/usb2/2-3/2-3.1/2-3.1:1.7/0003:8086:0B64.000D/HID-SENSOR-200073.2.auto/iio:device0/buffer/enable. The "Motion Module failure" message persists, but this does display the data! My understanding is that robot_localization is one way in which the odom can be published. I can also get one or two frames of a map to be built. If I omit unite_imu_method and echo /camera/gyro/imu_info and /camera/accel/imu_info I see no data either. This user's situation appears to be slightly different as they did have some messages being published to the /map topic, whereas none are being published in my setup. Is there any difference if you add enable_sync:=true to your ros launch instruction? A Motion Module Failure notification in the Viewer does not prevent the IMU data from working normally, but it can make the IMU topics in the ROS wrapper fail to provide data. Thank you. Sign in The RealSense user in that case did report though that they had to repeat the unplug-replug each time that they started a new roslaunch. Thanks to u/ever_luke for their help! That causes me to receive the same output from the slam_toolbox terminal, however the messages seem to appear at a slightly different time interval than they did in the past: My Camera node terminal displays the following: I've found a potentially related issue regarding the transform tree, but I'm not totally sure how to implement the same fix as this user did: https://answers.ros.org/question/357762/slam_toolbox-message-filter-dropping-message/. SLAM algorithm implementation in C++ that's compatible with windows? Some RealSense users use a tool called Kalibr for IMU calibration. Once I understood how ROS2 launch files work I was able to follow Link [4] to get SLAM Toolbox working with RViz and to develop a simple launch file for a custom "launch everything" package. Hi @MartyG-RealSense, I've been experimenting with the robot_localization package. As mentioned above though, a calibration is not required in order for IMU data to be displayed in realsense-viewer or rs-motion. Are there any warning / error messages in the log when you enable the Motion Module in the Viewer? I was also trying to get this to work with ROS2 as opposed to ROS1. By clicking Post Your Answer, you agree to our terms of service, privacy policy and cookie policy. It may relate to the bridge, it may not, but I can say I don't use it and I haven't seen this before in this project. CGAC2022 Day 10: Help Santa sort presents! may I confirm whether your /camera/depth/image_rect_raw topic is being published by the ROS wrapper by using a launch instruction such as roslaunch realsense2_camera rs_camera.launch, Yes, I am launching the node using the instruction: ros2 launch realsense2_camera rs_launch.py enable_gyro:=true enable_accel:=true initial_reset:=true &. Where and how do SLAM algorithms keep a map? This does not resolve the error message from slam_toolbox, as I am still not providing any odometry data. I have not been able to create an If there is also a problem with IMU data then unplugging and re-inserting the camera should correct the problem. There was also a case of ROS Motion Module Failure at #1960 (comment) where the cause of the failure may have been related to doing a rosbag record of a lot of topics, as reducing the number of topics being recorded apparently solved the error. How were sailing warships maneuvered in battle -- who coordinated the actions of all the sailors? Asking for help, clarification, or responding to other answers. I am looking into utilizing wheel odometry later on and simulating my own odometry in gazebo for now, but I was curious if there were any alternatives to this as well, perhaps using the LiDAR from the L515. I didn't get what you did. One other small fix I noticed was this warning in my camera_node startup: realsense2_camera_node-1] [WARN] [1656085968.770364262] [camera.camera]: Could not set param: unite_imu_method with 0 Range: [0, 2]: parameter 'unite_imu_method' has invalid type: expected [integer] got [string]. The IMU of a RealSense camera can function in the realsense-viewer tool and rs-motion without having to be calibrated first. MRPT SLAM MRPT::slam::CMetricMapBuilderICP warning Pose Extrapolation failed, How to use/reuse the map generated in visual SLAM. using ros2 topic echo /camera/imu reveals that no odometry data is being published. I am trying to start mapping with slam_toolbox. Already on GitHub? @MartyG-RealSense I do have access to an L515 as well. The only ROS2 SLAM guide for RealSense (not L515 specifically) and depthimage_to_laserscan that I could find is this one: https://yechun1.github.io/robot_devkit/rs_for_slam_nav/. Edit: Solved! Warning, transforms and rqt graph follows: odom->base_footprint was static transform, now it is set properly. I am facing the same problem right now. Hi, This is a ROS2/message filter-TF warning, not something from slam toolbox. This package will allow you to fully serialize the data and pose-graph of the SLAM map to be reloaded to continue mapping, localize, merge, or otherwise manipulate. SteveMacenski/filters: This library provides a standardized interface for processing data as a sequence of filters. Running on ROS2 Foxy Ubuntu 20.04, Edit: It is a real turtlebot and the config in the slam_toolbox has been set to the correct laser scan topic, I also got the error [async_slam_toolbox_node-6] [INFO] [1648794803.312563889] [slam_toolbox]: Message Filter dropping message: frame 'base_scan' at time 1646640633.933 for reason 'Unknown' from slam toolbox. As neither yourself or the case that I linked to directly mention the RealSense ROS wrapper, may I confirm whether your /camera/depth/image_rect_raw topic is being published by the ROS wrapper by using a launch instruction such as roslaunch realsense2_camera rs_camera.launch. When I run slam_toolbox (i.e having the ROS wrapper running on its own). 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