Buffer error in ROS melodic

asked 2021-11-11 06:09:27 -0600

Eman.m
65 ●30 ●43 ●49

This code fragment is perfectly working in ROS kinetic:

 tf::TransformListener tf_(ros::Duration(10));
  costmap_2d::Costmap2DROS willow_garage_costmap("willowgarage_costmap", tf_);

However, in ROS melodic, it gives error, I searched for it and tried to solve it by changing to:

 tf2_ros::Buffer tfBuffer;
  costmap_2d::Costmap2DROS willow_garage_costmap("willowgarage_costmap", tfBuffer);

But, this gives error:

Do not call canTransform or lookupTransform with a timeout unless you are using another thread for populating data. Without a dedicated thread it will always timeout. If you have a seperate thread servicing tf messages, call setUsingDedicatedThread(true) on your Buffer instance.

I think it is an issue with Buffer constructor, but I don't know how to fix it?

Help highly appreciated.

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Could you display the original error without changing to tfBuffer?

osilva ( 2021-11-11 06:33:52 -0600 )edit

If I use:

tf::TransformListener tf_(ros::Duration(10));
  costmap_2d::Costmap2DROS willow_garage_costmap("willowgarage_costmap", tf_);

I got:

error: no matching function for call to ‘costmap_2d::Costmap2DROS::Costmap2DROS(const char [21], tf::TransformListener&)’ costmap_2d::Costmap2DROS willow_garage_costmap("willowgarage_costmap", tf_);

note: candidate: costmap_2d::Costmap2DROS::Costmap2DROS(const string&, tf2_ros::Buffer&) Costmap2DROS(const std::string &name, tf2_ros::Buffer& tf);

note: no known conversion for argument 2 from ‘tf::TransformListener’ to ‘tf2_ros::Buffer&’

Eman.m ( 2021-11-11 07:20:30 -0600 )edit

As described above, I got an error and 2 notes.

Eman.m ( 2021-11-11 07:35:47 -0600 )edit

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answered 2021-11-14 23:16:14 -0600

Eman.m
65 ●30 ●43 ●49

In ROS melodic, this fix the problem:

  tf2_ros::Buffer tfBuffer(ros::Duration(10));
  tf2_ros::TransformListener tfListener(tfBuffer);
  costmap_2d::Costmap2DROS willow_garage_costmap("willowgarage_costmap", tfBuffer);

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answered 2021-11-11 07:53:49 -0600

osilva

1650 ●3 ●172 ●19 https://github.com/rob...

updated 2021-11-11 09:06:00 -0600

thank you @Eman.m. To fix the original issue, this is caused by the costmap_2d package being converted to use tf2 instead of tf. Difference between Kinetic and Melodic.

There is a repo that you need to build this package from source that will fix this: https://github.com/ros-planning/navig...

Also you can consider using the wrapper: http://docs.ros.org/en/melodic/api/co...

There is more information on this prior answer: https://answers.ros.org/question/2875...

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Many thanks osilva. I already installed the navigation for melodic by:

sudo apt-get install ros-melodic-navigation

Which I think includes costmap_2d.

Excuse me, could you give me an example on how to use the wrapper?

Thank you

Eman.m ( 2021-11-11 08:12:59 -0600 )edit

Please take a look at this repo to see how it's implemented: https://github.com/noeperez/indires_n...

There is also a paper, but it's in Spanish.

osilva ( 2021-11-11 08:55:26 -0600 )edit

@osilva: +100 for helping people, but we try to discourage link-only answers here on ROS Answers.

Pointing to a repository is not stand-alone enough.

Similar to Stack Overflow, try to make your answer stand-alone, by including the relevant parts of whatever external resource you are pointing to. That way, even if those external resources are changed or go away, your answer keeps its value.

gvdhoorn ( 2021-11-11 08:59:23 -0600 )edit

Also if you do a quick search in GitHub for Costmap2DROS::Costmap2DROSyou can see other implementations: https://github.com/search?q=Costmap2D...

osilva ( 2021-11-11 09:02:21 -0600 )edit

what about these two lines:

tf2_ros::Buffer tfBuffer;
costmap_2d::Costmap2DROS willow_garage_costmap("willowgarage_costmap", tfBuffer);

Is creating tfBuffer this way correct?

Eman.m ( 2021-11-11 09:05:09 -0600 )edit

I modified the code to:

  // the follwoing three lines are used with ROS melodic
  tf2_ros::Buffer tfBuffer(ros::Duration(10));
  tf2_ros::TransformListener tfListener(tfBuffer);
  costmap_2d::Costmap2DROS willow_garage_costmap("willowgarage_costmap", tfBuffer);

but, now different error:

Warning: Invalid argument "/map" passed to canTransform argument target_frame in tf2 frame_ids cannot start with a '/' like: at line 134 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp

Any idea?

Eman.m ( 2021-11-11 10:12:54 -0600 )edit

it should be map vs /mapnew tf2 convention as per https://github.com/ros-planning/navig...

osilva ( 2021-11-11 10:36:45 -0600 )edit

And pls don't forget to accept the answer if it fixed the original problem :) Hopefully you will be up and running soon.

osilva ( 2021-11-11 10:44:24 -0600 )edit

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