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[ekf_node-1] terminate called after throwing an instance of 'rclcpp::ParameterTypeException' [ekf_node-1] what(): expected [string] got [not set]

asked 2021-07-21 18:45:19 -0600

rythm070 gravatar image

Hello,

Thanks in advance for your help!

I'm having a nightmare trying to figure out what's wrong with my code. I just installed ros2 galactic and I'm running the code that works on ros2 foxy. When I launch the robot_localization package it works fine on ros2 foxy, but in galactic I'm having this error:

[ekf_node-1] terminate called after throwing an instance of 'rclcpp::ParameterTypeException' [ekf_node-1] what(): expected [string] got [not set]

I changed to galactic because It has a lot of improvements that are very useful for my thesis project so It would be much appreciated some help to get it to work in this distro.

Here is the screenshot of the terminal:

galactic

This is my configuration file:

ekf_filter_node:
    ros__parameters:

        two_d_mode: false
        publish_acceleration: false
        publish_tf: true


        map_frame: map              
        odom_frame: odom            
        base_link_frame: base_link  
        world_frame: odom          

        odom0: /lgsvl/gps/odom
        odom0_config: [true,  true,  true,
                       false, false, false,
                       false, false, false,
                       false, false, true,
                       false, false, false]

        imu0: /lgsvl/imu
        imu0_config: [false, false, false,
                      true,  true,  true,
                      false, false, false,
                      false, false, false,
                      false, false, false]


        process_noise_covariance: [0.05, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
        0.0,    0.05, 0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
        0.0,    0.0,    0.06, 0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
        0.0,    0.0,    0.0,    0.03, 0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
        0.0,    0.0,    0.0,    0.0,    0.03, 0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
        0.0,    0.0,    0.0,    0.0,    0.0,    0.06, 0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
        0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.025, 0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
        0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.025, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
        0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.04, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
        0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.01, 0.0,    0.0,    0.0,    0.0,    0.0,
        0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.01 ...
(more)
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Comments

can you try to take the topic names into string forms for example change imu0: /lgsvl/imu to "imu0: /lgsvl/imu" and apply that to all strings.

Fetullah Atas gravatar image Fetullah Atas  ( 2021-07-22 08:09:53 -0600 )edit

Unfortunately, it didn't work. The same error is shown.

rythm070 gravatar image rythm070  ( 2021-07-22 09:21:13 -0600 )edit

1 Answer

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answered 2021-08-04 01:49:41 -0600

Kristofer gravatar image

Hi, This is probably due to that parameters now are static per default: https://docs.ros.org/en/galactic/Rele...

So some clients have to be updated to handle the initialization of parameters in the correct way: https://github.com/ros2/rclcpp/blob/m...

We have also had a lot of struggle with this since many of our python clients failed and hade to be updated.

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Asked: 2021-07-21 18:45:19 -0600

Seen: 245 times

Last updated: Aug 04