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problem to read topics with sensorQos in rviz and rqt

asked 2020-08-04 10:10:32 -0500

remlog gravatar image

Gazebo plugins which use SensorDataQoS are not read by rviz or rqt (ros topic plugin), I think that the problem is SensorDataQoS of the sensor plugin which have been included one month ago in gazebo_ros_pkgs

I can read the lidar topic in through cli but it does not work in rviz or rqt.

it is ok :Read the topic through using ros2 topic echo /dolly/lidar do not work: add the plugin laser_scan in rviz2 do not work: view the topic through topic monitor in rqt

The same is happening in other sensor of ros gazebo_pkg like likelibgazebo_ros_gps_sensor or libgazebo_ros_p3d, but it did not happen with libgazebo_ros_joint_state_publisher or libgazebo_ros_diff_drive.

I have tested to configure use_sim_time in rqt or rviz but it does not solve the problem.

I have also tested the recommendation of this thread configuring the topics in rviz but it does not work.

my system: OS Ubuntu 20.04 ROS- foxy (updated) all packages from apt-get To test gazebo I use and add multiple plugins.

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answered 2020-08-04 13:52:19 -0500

updated 2020-08-04 14:43:06 -0500

gvdhoorn gravatar image

If you check the QoS profile for sensor_datayou will see that reliability is set to the best effort:

Now, if you add a new visualization to RViz2 it will have reliability policy set to Reliable by default:

image description

Therefore, just change reliability to Best Effort:

image description

If you want to test, you can set --qos-profile to ros2 topic pub as:

ros2 topic pub --qos-profile=sensor_data /topic sensor_msgs/Range '{ range: 1, header: { frame_id: base_link } }'
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Please do not use 3rd party image hosters to host images.

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I've done that for you now, but please keep it in mind next time.

gvdhoorn gravatar image gvdhoorn  ( 2020-08-04 14:44:07 -0500 )edit

Yes I have tested best effort but ir does not work, this also happen with the plugin odometry, if I use the libgazebo_ros_p3d topic I can not read it in the rviz plugin, but the gazebo_ros_diff_drive works normally

remlog gravatar image remlog  ( 2020-08-06 13:55:46 -0500 )edit

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Asked: 2020-08-04 10:10:32 -0500

Seen: 75 times

Last updated: Aug 04