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rviz and gazebo not aligned after collision

asked 2023-01-25 16:32:52 -0500

lukasschueler gravatar image

updated 2023-02-01 09:45:28 -0500

Dear Community,

for a series of experiments our robot needs to fulfill a short parcour in a gazebo simulation. To reach the second goal, the navigation sends it on a, for gazebo, not viable path and the robot gets stuck. In rviz however, the robot manages to move behind the obstacle and reach the second goal. Afterwards the representations of the environment caught by the sensors are disjunct.

For an easier understanding, here's a recording of the experiment(issue arising at 0:30):

https://drive.google.com/file/d/1ArQK...

Why does this occur?

I'm new to rosanswers, so there will probably miss quite some information to solve this problem. Please just tell me and I will eagerly provide you with the missing details.

Thank you for your help!

Technical details:

We use ros-kinetic on Ubuntu 16.04. The simulation is run in this docker container.

Gazebo: Version 7.0.0

Rviz: Version 1.12.17

Published topics:

/biscee_head_relative_position

/biscee_ultra_cloud_front_bottom

/biscee_ultra_cloud_front_top

/biscee_ultra_cloud_left_45

/biscee_ultra_cloud_left_90

/biscee_ultra_cloud_right_45

/biscee_ultra_cloud_right_90

/clicked_point

/clock

/continousContact

/diagnostics

/gazebo/link_states

/gazebo/model_states

/gazebo/parameter_descriptions

/gazebo/parameter_updates

/gazebo/set_link_state

/gazebo/set_model_state

/gazebo_gui/parameter_descriptions

/gazebo_gui/parameter_updates

/goSignal

/numberContacts

/rb1_base

/rb1_base/amcl/parameter_descriptions

/rb1_base/amcl/parameter_updates

/rb1_base/amcl_pose

/rb1_base/biscee/cmd_vel

/rb1_base/bumper

/rb1_base/cmd_vel

/rb1_base/docker/cmd_vel

/rb1_base/front_laser/scan

/rb1_base/front_rgbd_camera/depth/camera_info

/rb1_base/front_rgbd_camera/depth/image_raw

/rb1_base/front_rgbd_camera/depth/points

/rb1_base/front_rgbd_camera/parameter_descriptions

/rb1_base/front_rgbd_camera/parameter_updates

/rb1_base/front_rgbd_camera/rgb/camera_info

/rb1_base/front_rgbd_camera/rgb/image_raw

/rb1_base/front_rgbd_camera/rgb/image_raw/compressed

/rb1_base/front_rgbd_camera/rgb/image_raw/compressed/parameter_descriptions

/rb1_base/front_rgbd_camera/rgb/image_raw/compressed/parameter_updates

/rb1_base/front_rgbd_camera/rgb/image_raw/compressedDepth

/rb1_base/front_rgbd_camera/rgb/image_raw/compressedDepth/parameter_descriptions

/rb1_base/front_rgbd_camera/rgb/image_raw/compressedDepth/parameter_updates

/rb1_base/front_rgbd_camera/rgb/image_raw/theora

/rb1_base/front_rgbd_camera/rgb/image_raw/theora/parameter_descriptions

/rb1_base/front_rgbd_camera/rgb/image_raw/theora/parameter_updates

/rb1_base/imu/data

/rb1_base/imu/data/accel/parameter_descriptions

/rb1_base/imu/data/accel/parameter_updates

/rb1_base/imu/data/bias

/rb1_base/imu/data/rate/parameter_descriptions

/rb1_base/imu/data/rate/parameter_updates

/rb1_base/imu/data/yaw/parameter_descriptions

/rb1_base/imu/data/yaw/parameter_updates

/rb1_base/imu/rpy/filtered

/rb1_base/initialpose

/rb1_base/joint_states

/rb1_base/joy

/rb1_base/joy/set_feedback

/rb1_base/map

/rb1_base/map_metadata

/rb1_base/map_updates

/rb1_base/mavros/imu/data_raw

/rb1_base/move_base/NavfnROS/plan

/rb1_base/move_base/TebLocalPlannerROS/costmap_converter/CostmapToPolygonsDBSMCCH/parameter_descriptions

/rb1_base/move_base/TebLocalPlannerROS/costmap_converter/CostmapToPolygonsDBSMCCH/parameter_updates

/rb1_base/move_base/TebLocalPlannerROS/global_plan

/rb1_base/move_base/TebLocalPlannerROS/local_plan

/rb1_base/move_base/TebLocalPlannerROS/obstacles

/rb1_base/move_base/TebLocalPlannerROS/parameter_descriptions

/rb1_base/move_base/TebLocalPlannerROS/parameter_updates

/rb1_base/move_base/TebLocalPlannerROS/teb_feedback

/rb1_base/move_base/TebLocalPlannerROS/teb_markers

/rb1_base/move_base/TebLocalPlannerROS/teb_poses

/rb1_base/move_base/TebLocalPlannerROS/via_points

/rb1_base/move_base/cancel

/rb1_base/move_base/cmd_vel

/rb1_base/move_base/current_goal

/rb1_base/move_base/feedback

/rb1_base/move_base/global_costmap/costmap

/rb1_base/move_base/global_costmap/costmap_prohibition_layer/parameter_descriptions

/rb1_base/move_base/global_costmap/costmap_prohibition_layer/parameter_updates

/rb1_base/move_base/global_costmap/costmap_updates

/rb1_base/move_base/global_costmap/footprint

/rb1_base/move_base/global_costmap/inflation_layer/parameter_descriptions

/rb1_base/move_base/global_costmap/inflation_layer/parameter_updates

/rb1_base/move_base/global_costmap/obstacles/clearing_endpoints

/rb1_base/move_base/global_costmap/obstacles/parameter_descriptions

/rb1_base/move_base/global_costmap/obstacles/parameter_updates

/rb1_base/move_base/global_costmap/parameter_descriptions

/rb1_base/move_base/global_costmap/parameter_updates

/rb1_base/move_base/global_costmap/static_map/parameter_descriptions

/rb1_base/move_base/global_costmap/static_map/parameter_updates

/rb1_base/move_base/goal

/rb1_base/move_base/local_costmap/costmap

/rb1_base/move_base/local_costmap/costmap_updates

/rb1_base/move_base/local_costmap/footprint

/rb1_base/move_base/local_costmap/inflation_layer/parameter_descriptions

/rb1_base/move_base/local_costmap ... (more)

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Comments

Just an observation: there is no "world" or "environment" in RViz. RViz does not maintain any state. It directly visualises whatever it receives on the topics it has subscribed to (or: the topics your Display plugins have subscribed to).

See also #q382149 for a similar discussion.

Afterwards the representations of the environment caught by the sensors are disjunct.

this is not necessarily something you can say, as RViz does not contain any "environment".

What can happen is your localisation node(s) get(s) confused/stops working properly due to wheel sleep (for instance). It reports forward motion, but the wheels are slipping, leading the data visualisation in RViz to give the impression "your robot" (really: a bunch of meshes rendered in a 3D space by some visualisation tool) is still moving forward, while in reality (or in Gazebo), it's actually stuck.

That's not an RViz problem. A 1D ...(more)

gvdhoorn gravatar image gvdhoorn  ( 2023-02-02 02:32:43 -0500 )edit

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answered 2023-02-23 13:17:34 -0500

Davies Ogunsina gravatar image

updated 2023-02-23 13:20:54 -0500

Due to the video , this is not a rviz problem , reason why you see the rviz visualisation perform this way is because your robot had a wheel slip , and there was a mismatch.Rviz has nothing to do with this.

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Asked: 2023-01-25 16:28:02 -0500

Seen: 79 times

Last updated: Feb 23 '23