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 ur_driver for the manipulator. In the second machine I run RTABmap and robot_localization 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 "base_footprint) it is look fine. In addition, when I run "tf_monitor" 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
Have you propperly set
ROS_MASTER_URIandROS_HOSTNAMEon both machines ?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?
It could indeed create issues, you have to set
ROS_HOSTNAMEor setROS_IPfor each machine with their corresponding ip adress.I have
ROS_IPfor both machines. So, if I understand you I don't need to setROS_HOSTNAMEtoo. Right?Yes
ROS_HOSTNAMEandROS_IPare mutually exclusive. Have you tried runningroswtfwhile running the program ? It can detect TF issues (doc link)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).
@Aviad: please attach your screenshots directly to this question.
I've given you sufficient karma for that.