Sign up for a free GitHub account to open an issue and contact its maintainers and the community. The "Motion Module failure" message persists, but this does display the data! @MartyG-RealSense I do have access to an L515 as well. When I launch the cartographer via: privacy statement. Do non-Segwit nodes reject Segwit transactions with invalid signature? In the config file, I define base_frame as, I publish Odometry (without velocities, just position) to topic /odom, I provide transform: I tried using unite_imu_method:=copy and unite_imu_method:=linear_interpolation but neither option showed data being published. 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. odom->base_link transform other than by publishing my own via a static_tf_publisher. Got it. If calibration is not the sole reason imu data is not being published in ros, how else might I troubleshoot to get data published? In Rviz my TF looks clean, instead of map with the warning: No transform from [map] to [base_link]. Is there a Node for general data frame transforms? IntelRealSense/librealsense#6964 (comment). Some RealSense users use a tool called Kalibr for IMU calibration. Can see data on every topic. So we have lidar topic /scan, slam_toolbox subscribes on it. 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. Can we keep alcoholic beverages indefinitely? Counterexamples to differentiation under integral sign, revisited. I'm using slam_toolbox default configuration (online_async), only remapping the robot's base frame to base_link. No map received SLAM Toolbox. 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. To see the IMU data you should click on the '2D' option. 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). [rviz2-7] [INFO] [1648782355.269898309] [rviz2]: Message Filter dropping message: frame 'base_scan' at time 1646639543.378 for reason 'Unknown'. Well occasionally send you account related emails. 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. I want to use slam_toolbox and visualize data from the lidar like it can be done in cartographer. Melodic #326 Noetic #325 Thanks in advance. Find centralized, trusted content and collaborate around the technologies you use most. How do I arrange multiple quotations (each with multiple lines) vertically (with a line through the center) so that they're side-by-side? Adding a bit more details with regards to your solution would be helpful for future viewers. 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. SLAM algorithm implementation in C++ that's compatible with windows? So I could not rule out that the ROS problem with IMU data is related to use of JetPack 5. 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. I created static transform publishers as per Link [1] below. 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. The Viewer's log can be expanded open by left-clicking on the small upward triangle at the bottom corner of the Viewer window. 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/. I use the robot state publisher to publish the transform between the base footprint and the rest of the robot. Are you aware of any implementations of the L515 to obtain odometry within ROS2? 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? I tried using the -DFORCE_RSUSB_BACKEND=true flag, and I got the same error. 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 note that you have already tried echoing the. Should I be receiving a map or have I missed something? This support was added in the current 2.50.0 librealsense SDK. Good luck! 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. (e.g. 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. It's excellent news that you were able to receive data from the /imu topic after adjusting the unite_imu_method setting! Thank you for your continued support! I run it by default on one terminal window using command, Then in another terminal window I run slam_toolbox using command. When set to true, this setting gathers the closest frames of different sensors to be sent with the same time tag. By clicking Sign up for GitHub, you agree to our terms of service and To understand why I needed to do this I went through Link [2] which led to Link [3]. 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. I can also get one or two frames of a map to be built. This support was added in the current 2.50.0 librealsense SDK. In their case though, the reason given was 'discarding message because the queue is full' instead of 'unknown'. It collects commonly used message "filtering" algorithms into a common space. Thanks to u/ever_luke for their help! We do not currently allow content pasted from ChatGPT on Stack Overflow; read our policy here. Why do quantum objects slow down when volume increases? I am trying to start mapping with slam_toolbox. So the imu is functioning in the viewer and rs-motion, but I am still unable to echo the data from a ros topic. Please. odom->base_footprint. I didn't get what you did. I am facing the same problem right now. 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. [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 . By clicking Sign up for GitHub, you agree to our terms of service and 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. Hello. Let me know if you can make it happen then. Adding it to the tf-broadcaster gave me seconds and nanoseconds in the transform message and the slam was working. [1625892725.336256970] [rviz]: Message Filter dropping message: frame 'laser_frame' at time 1625892723.515 for reason 'Unknown' . where and how did you add the missing timestamp.) Sorry, my mistake 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. 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. Running ros2 topic echo /camera/depth/image_rect_raw confirms that the node is indeed publishing data to the topic. Running ROS2 on Ubuntu 20.04.04. 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/. 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. I also have neither an "odom_frame" nor a "base_frame" in my current setup, which appears to be required. 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. I would like to know if anyone had succeded to integrate and use slam_toolbox localization . MRPT SLAM MRPT::slam::CMetricMapBuilderICP warning Pose Extrapolation failed, How to use/reuse the map generated in visual SLAM. I'm going to begin exploring other options for odometry and/or different slam packages. (Ubuntu 18.04 with Eloquent) Thank you for your help! 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. 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' This camera does not have the Motion Module Failure message, but it does display this message upon launching the node. 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. Thanks for contributing an answer to Stack Overflow! How can you know the sky Rose saw when the Titanic sunk? If so, are there any third-party calibration tools that I could use that don't require pyrealsense2? Ready to optimize your JavaScript with Rust? 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. 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. 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. 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'. Hello @MartyG-RealSense I have looked into the warning: [WARN] [1655843318.093144103] [slam_toolbox]: Failed to compute odom pose. Thank you for helping me reach full functionality with my realsense cameras. The node publishes correct messages when I check with ros2 topic echo scan but it fails to get them sh. 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. . https://answers.ros.org/question/393773/slam-toolbox-message-filter-dropping-message-for-reason-discarding-message-because-the-queue-is-full/. If you have seen any promising applications, let me know! 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. This does not resolve the error message from slam_toolbox, as I am still not providing any odometry data. Sign in 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? I have not seen many examples, and those that I have noticed are for ROS1 only: SSL SLAM. I will continue researching and testing with the robot_localization package, and report back how well it works. 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. Hello @MartyG-RealSense, thanks for your reply. Hi @MartyG-RealSense, I've been experimenting with the robot_localization package. [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. Already on GitHub? 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. I'm pleased to hear that you resolved your RViz warnings and look forward to your next test results. Thank you so much for all your research and suggestions. 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 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://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i. Are there any warning / error messages in the log when you enable the Motion Module in the Viewer? Making statements based on opinion; back them up with references or personal experience. 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. My odometry transform was missing the timestamp. Thanks. I am not using a bridge but the error output seems to be the same. privacy statement. If there is also a problem with IMU data then unplugging and re-inserting the camera should correct the problem. Do you have any ideas as to why that might be? You signed in with another tab or window. So far, I have managed to create the transforms from map->odom->base_footprint, which is my base frame. When the robot starts to move, the lidar readings update, but the map itself does not. I just missed it when I created the tf-broadcaster. 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. 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. ros2 launch slam_toolbox online_sync_launch.py, In rviz I add /map topic, no map received. I'll look into this, as I am receiving warnings from RVIZ. SteveMacenski/filters: This library provides a standardized interface for processing data as a sequence of filters. So I could not rule out that the ROS problem with IMU data is related to use of JetPack 5. 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). 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. Rather than a full robot I was strictly working with a SLAMTech RPLidar A1M8 LIDAR sensor. Already on GitHub? to your account. To learn more, see our tips on writing great answers. Asking for help, clarification, or responding to other answers. running top shows that the realsense2_camera node is at ~80% cpu usage, and no other nodes take up a significant amount. I was also trying to get this to work with ROS2 as opposed to ROS1. As mentioned above though, a calibration is not required in order for IMU data to be displayed in realsense-viewer or rs-motion. Good luck! 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. My understanding is that robot_localization is one way in which the odom can be published. Is there any difference if you add enable_sync:=true to your ros launch instruction? 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. 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 &. Currently, I am able to get LIDAR readings to successfully be viewed in RVIZ. 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 was simply trying to feed data from that sensor to slam_toolbox, and to view it in RViz. Then I expect to view visualization in rviz2. Let me know if you have any recommendations as to how to help. 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. 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. [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/. 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 Well occasionally send you account related emails. 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. Do you have any other ideas as to what the issue may be? Stack Overflow. 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. I was unsure which setting the user altered in the link that you shared. I am using slam-toolbox for mapping and nav2 for navigating. Can anybody tell me what I'm doing wrong? I use the robot state publisher to publish the transform between the base footprint and the rest of the robot. So I am left with my latest issue of trying to rebuild librealsense with the -DBUILD_PYTHON_BINDINGS:bool=true option. Also, have you tried accessing the IMU topics without slam_toolbox and depthimage_to_laserscan being active? The IMU of a RealSense camera can function in the realsense-viewer tool and rs-motion without having to be calibrated first. instead of using unite_imu_method:=copy I use unite_imu_method:=1, which allows the /camera/imu topic to echo data! [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. 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. using ros2 topic echo /camera/imu reveals that no odometry data is being published. Are you performing any recording? Could not providing a transform for the scanner frame be the issue? 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'. These are the only available parameters relating depth in rqt. Apologies if this is a repeat issue. Sign in 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. For more technical details, have a look at this draft paper. Hi @MartyG-RealSense. How were sailing warships maneuvered in battle -- who coordinated the actions of all the sailors? That user was using the robot_localization package, which Intel's own D435i SLAM guide also makes use of. Is calibrating the imu required to get it functioning in ros? I know turtlebot3 has a pre-built package but I am trying to do things on my own, after experimenting with the turtlebot3 package. 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]. Thanks for all your help! Your results make sense. The transform from odom to base_footprint (wheel_odometry frame_id to child_frame_id) was missing the header.stamp part. Thank you for the information! Have a question about this project? The Construct ROS Community Map is frozen + " [rviz2]: Message Filter dropping message. I look forward to hearing the results of your testing with robot_localization. Setup details: ROS2 foxy on amd64 architecture CPU with nav2 and slam_toolbox installed. 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 am replacing the unneccesary points with NAN. By clicking Post Your Answer, you agree to our terms of service, privacy policy and cookie policy. If I omit unite_imu_method and echo /camera/gyro/imu_info and /camera/accel/imu_info I see no data either. I'm pretty new to ROS2, so I have been trying to do simple mapping with a turtlebot3 using slam toolbox. 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 very much for the further information. I can also get one or two frames of a map to be built. 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. 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