[slam_toolbox]: Message Filter dropping message: frame 'camera_depth_frame'...for reason 'Unknown'

asked 2022-09-06 15:07:50 -0500

LiquidTurtle1
15 ●2 ●4 ●8

updated 2022-09-14 11:54:54 -0500

I'm running slam_toolbox with an L515 Intel Realsense camera, and I always recieve this [INFO] message upon startup. After about a minute or so, the message stops, and then the system begins mapping as expected.

What is the cause of all these dropped frames?

[sync_slam_toolbox_node-5] [INFO] [1662493149.436859079] [slam_toolbox]: Message Filter dropping message: frame 'camera_depth_frame' at time 1662493149.164 for reason 'Unknown'
...at time 1662493149.297 ...
...at time 1662493149.330 ...
...at time 1662493149.766 ...
...at time 1662493149.530 ...
...at time 1662493149.597 ...

Thank you for your help!

All of the needed frames and transforms appear to be published before and after the message stops: TF Tree before and after

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it could be that the TF2 transformations for the camera frame isn't up yet, try running ros2 run tf2_tools view_frames.py when the message appear, then run it again when the message disappear

khairulm ( 2022-09-07 01:11:10 -0500 )edit

Thank you for your response, khairulm, I've updated my original post with more information.

LiquidTurtle1 ( 2022-09-07 11:31:09 -0500 )edit

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I was able to solve the issue by adding {'depth_module.global_time_enabled': True} to my launch file like so:

Node(
    package='realsense2_camera',
    namespace="camera",
    name="camera",
    executable='realsense2_camera_node',
    parameters=[set_configurable_parameters(configurable_parameters), {'depth_module.global_time_enabled': True}
                ],
    output='screen',
    arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level')],
    emulate_tty=True,
    ),

LiquidTurtle1 ( 2022-09-14 11:56:37 -0500 )edit

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[slam_toolbox]: Message Filter dropping message: frame 'camera_depth_frame'...for reason 'Unknown'

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[slam_toolbox]: Message Filter dropping message: frame 'camera_depth_frame'...for reason 'Unknown'