TF_REPEATED_DATA warnings

noetic

asked 2021-10-07 17:00:10 -0600

Roshan
51 ●18 ●28 ●34

updated 2021-10-07 17:05:55 -0600

Hello, I am trying to run two turtlebot3s in Gazebo. When I try doing anything related to tf, for example run rqt, I get the warning message:

Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame base_footprint at time 91,695000 according to authority /gazebo
     at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp

This happens both when I use my own launch file:

<launch>
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="first_tb3"  default="tb3_0"/>
  <arg name="second_tb3" default="tb3_1"/>

  <arg name="first_tb3_x_pos" default="0.0"/>
  <arg name="first_tb3_y_pos" default="-1.0"/>
  <arg name="first_tb3_z_pos" default=" 0.0"/>
  <arg name="first_tb3_yaw"   default=" 1.57"/>

  <arg name="second_tb3_x_pos" default=" 0.0"/>
  <arg name="second_tb3_y_pos" default="-2.0"/>
  <arg name="second_tb3_z_pos" default=" 0.0"/>
  <arg name="second_tb3_yaw"   default=" 1.57"/>

    <!-- Start marker detector--> 
  <node name="aruco_detect" pkg="aruco_detect" type="aruco_detect">
    <param name="image_transport" value="compressed" />
    <param name="publish_images" value="true" />
    <param name="fiducial_len" value="0.15" />
    <param name="dictionary" value="0" />
    <param name="do_pose_estimation" value="true" />
    <param name="ignore_fiducials" value="" />
    <param name="fiducial_len_override" value="" />
    <remap from="/camera/compressed" to="/tb3_1/camera/rgb/image_raw/compressed"/>
    <remap from="/camera_info" to="/tb3_1/camera/rgb/camera_info"/>
  </node> 


  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/empty_world.world"/>
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include>  

  <group ns = "$(arg first_tb3)">
    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
      <param name="publish_frequency" type="double" value="50.0" />
      <param name="tf_prefix" value="$(arg first_tb3)" />
    </node>

    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg first_tb3) -x $(arg first_tb3_x_pos) -y $(arg first_tb3_y_pos) -z $(arg first_tb3_z_pos) -Y $(arg first_tb3_yaw) -param robot_description" />
  </group>

  <group ns = "$(arg second_tb3)">
    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />

    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
      <param name="publish_frequency" type="double" value="50.0" />
      <param name="tf_prefix" value="$(arg second_tb3)" />
    </node>

    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg second_tb3) -x $(arg second_tb3_x_pos) -y $(arg second_tb3_y_pos) -z $(arg second_tb3_z_pos) -Y $(arg second_tb3_yaw) -param robot_description" />
  </group>


</launch>

and when I use the launch file from turtlebot3_gazebo: https://github.com/ROBOTIS-GIT/turtle... So this issue occurs when there are multiple turtlebots.

Previously I had similar issues in: https://answers.ros.org/question/3880..., but those were partially resolved. In that case I got error messages like:

Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame wheel_right_link at time 705,364000 according to authority /tb3_1 ...

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answered 2021-10-07 17:52:48 -0600

Geoff

4203 ●18 ●103 ●63

Gazebo is broadcasting the odom and base_footprint frames without the prefix. That is causing the warning you see.

See this question/answer for how to add the TF prefix to Gazebo.

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Hello, thank you for your answer. I don't think I completely understand how this is done. But I think the file I should be editing is the turtlebot3_waffle_pi.gazebo.plugin, inside opt/ros/noetic/share/turtlebot3_description/urdf, if I'm using a turtlebot3 waffle_pi.

And then add for example <frameId>tb3_0/base_link</frameId>for the first turtlebot. I'm not sure in which part of the code would I add that. in here? https://github.com/ROBOTIS-GIT/turtle...

I'm also wondering how I would do this for the second turtlebot, would I copy paste that chunk of code with <frameId>tb3_1/base_link</frameId> instead, or would I have to make a new file?

Also wondering if these issues will be fixed in the next sync when they add tf_prefix support

Roshan ( 2021-10-08 03:55:28 -0600 )edit

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answered 2021-10-08 06:24:11 -0600

Roshan
51 ●18 ●28 ●34

updated 2021-10-08 06:52:34 -0600

The issue has been fixed, as Geoff said, you need to add the TF prefix to Gazebo. In this case a good explanation of how to do this is given in: https://github.com/open-rmf/free_flee...

Minor edits had to be done to the launch and urdf xacro files according to the github link above, and the gazebo xacro file now looks like this:

<?xml version="1.0"?>
<robot name="turtlebot3_waffle_pi_sim" xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:arg name="laser_visual"  default="false"/>
  <xacro:arg name="camera_visual" default="false"/>
  <xacro:arg name="imu_visual"    default="false"/>

  <gazebo reference="base_link">
    <material>Gazebo/DarkGrey</material>
  </gazebo>

  <gazebo reference="wheel_left_link">
    <mu1>0.1</mu1>
    <mu2>0.1</mu2>
    <kp>500000.0</kp>
    <kd>10.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>0.1</maxVel>
    <fdir1>1 0 0</fdir1>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="wheel_right_link">
    <mu1>0.1</mu1>
    <mu2>0.1</mu2>
    <kp>500000.0</kp>
    <kd>10.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>0.1</maxVel>
    <fdir1>1 0 0</fdir1>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="caster_back_right_link">
    <mu1>0.1</mu1>
    <mu2>0.1</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="caster_back_left_link">
    <mu1>0.1</mu1>
    <mu2>0.1</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="imu_link">
    <sensor type="imu" name="imu">
      <always_on>true</always_on>
      <visualize>$(arg imu_visual)</visualize>
    </sensor>
    <material>Gazebo/Grey</material>
  </gazebo>

  <gazebo>
    <plugin name="turtlebot3_waffle_pi_controller" filename="libgazebo_ros_diff_drive.so">
      <commandTopic>cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>$(arg botname)/odom</odometryFrame>
      <odometrySource>world</odometrySource>
      <publishOdomTF>true</publishOdomTF>
      <robotBaseFrame>$(arg botname)/base_footprint</robotBaseFrame>
      <publishWheelTF>false</publishWheelTF>
      <publishTf>true</publishTf>
      <publishWheelJointState>true</publishWheelJointState>
      <legacyMode>false</legacyMode>
      <updateRate>30</updateRate>
      <leftJoint>wheel_left_joint</leftJoint>
      <rightJoint>wheel_right_joint</rightJoint>
      <wheelSeparation>0.287</wheelSeparation>
      <wheelDiameter>0.066</wheelDiameter>
      <wheelAcceleration>1</wheelAcceleration>
      <wheelTorque>10</wheelTorque>
      <rosDebugLevel>na</rosDebugLevel>
    </plugin>
  </gazebo>

  <gazebo>
    <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
      <alwaysOn>true</alwaysOn>
      <bodyName>imu_link</bodyName>
      <frameName>imu_link</frameName>
      <topicName>imu</topicName>
      <serviceName>imu_service</serviceName>
      <gaussianNoise>0.0</gaussianNoise>
      <updateRate>0</updateRate>
      <imu>
        <noise>
          <type>gaussian</type>
          <rate>
            <mean>0.0</mean>
            <stddev>2e-4</stddev>
            <bias_mean>0.0000075</bias_mean>
            <bias_stddev>0.0000008</bias_stddev>
          </rate>
          <accel>
            <mean>0.0</mean>
            <stddev>1.7e-2</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </accel>
        </noise>
      </imu>
    </plugin>
  </gazebo>

  <gazebo reference="base_scan">
    <material>Gazebo/FlatBlack</material>
    <sensor type="ray" name="lds_lfcd_sensor">
      <pose>0 0 0 0 0 0</pose>
      <visualize>$(arg laser_visual)</visualize>
      <update_rate>5</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>360</samples>
            <resolution>1</resolution>
            <min_angle>0.0</min_angle>
            <max_angle>6.28319</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.120</min>
          <max>3.5</max>
          <resolution>0.015</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
        <topicName>scan</topicName>
        <frameName>$(arg botname)/base_scan</frameName>
      </plugin>
    </sensor>
  </gazebo>

<!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
  <gazebo reference="camera_rgb_frame">
    <sensor type="camera" name="Pi Camera">
      <always_on>true</always_on>
      <visualize>$(arg camera_visual)</visualize>
      <camera>
          <horizontal_fov>1.085595</horizontal_fov>
          <image>
              <width>640</width>
              <height>480</height>
              <format>R8G8B8</format>
          < ...

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