TF Error between two machines
Hello,
I am working with two machines together. One for a manipulator("melodic" version) and the second for the autonomous platform("kinetic" platform). In the first computer (It is the master) I run the urdf of all the system and the urdriver for the manipulator. In the second machine I run RTABmap and robotlocalization pkg. When I look in Rviz I see that there is an error when the fixed frame is "map" or "odom" (these are the only 2 frames which published in the second machine). There is no link between the whole frames Although in rqt it looks fine. If I change the fixed frame to another frame like "basefootprint) it is look fine. In addition, when I run "tfmonitor" between "map" and the highlighted frames in Rviz(see image) I have the same error.
I added some images and I will glad if someone can give me some suggestions for that.
Thanks, Aviad
Asked by Aviad on 2019-11-19 04:36:20 UTC
Comments
Have you propperly set
ROS_MASTER_URI
andROS_HOSTNAME
on both machines ?Asked by Delb on 2019-11-19 05:01:07 UTC
Hi, I seted ROS_MASTER_URI well but I did not set ROS_HOSTNAME at all. I can see the topics which published between the computers. Maybe the ROS_HOSTNAME is the problem?
Asked by Aviad on 2019-11-19 05:16:55 UTC
It could indeed create issues, you have to set
ROS_HOSTNAME
or setROS_IP
for each machine with their corresponding ip adress.Asked by Delb on 2019-11-19 05:27:35 UTC
I have
ROS_IP
for both machines. So, if I understand you I don't need to setROS_HOSTNAME
too. Right?Asked by Aviad on 2019-11-19 05:41:34 UTC
Yes
ROS_HOSTNAME
andROS_IP
are mutually exclusive. Have you tried runningroswtf
while running the program ? It can detect TF issues (doc link)Asked by Delb on 2019-11-19 06:08:39 UTC
If you look at the rqt_graph, the timestamps for map and odom are like 160 seconds in the future. Try synchronizing the clocks between the machines (ntpdate).
Asked by matlabbe on 2019-11-19 08:33:05 UTC
@Aviad: please attach your screenshots directly to this question.
I've given you sufficient karma for that.
Asked by gvdhoorn on 2019-11-20 03:17:31 UTC