Last incompatible policy: RELIABILITY_QOS_POLICY - Ros2 bag problem
Hi all, I'm using ROS2 Humble on Ubuntu 20.04 and I'm trying to export my ros bags to CSV files. In order to save the data, I created a python consumer that reads the messages and keep them in memory.
This is the bag info:
gorgo@razer:~/Downloads/rosbag2_2023_06_20-14_23_35$ ros2 bag info .
Files: rosbag2_2023_06_20-14_23_35_0.db3
Bag size: 14.7 MiB
Storage id: sqlite3
Duration: 158.450s
Start: Jun 20 2023 18:23:36.22 (1687271016.22)
End: Jun 20 2023 18:26:14.473 (1687271174.473)
Messages: 161929
Topic information: Topic: /fc/info/channels | Type: drone_racing_msgs/msg/RcChannels | Count: 15845 | Serialization Format: cdr
Topic: /fc/info/motors_thrust | Type: drone_racing_msgs/msg/SetpointMotorsThrust | Count: 15846 | Serialization Format: cdr
Topic: /perception/drone_state | Type: drone_racing_msgs/msg/DroneState | Count: 43087 | Serialization Format: cdr
Topic: /sensors/battery | Type: drone_racing_msgs/msg/SensorBattery | Count: 7923 | Serialization Format: cdr
Topic: /sensors/imu | Type: drone_racing_msgs/msg/SensorImu | Count: 79228 | Serialization Format: cdr
/sensors/imu is the topic I want to save.
gorgo@razer:~/drone-racing$ ros2 topic info /sensors/imu --verbose
Type: drone_racing_msgs/msg/SensorImu
Publisher count: 1
Node name: rosbag2_player
Node namespace: /
Topic type: drone_racing_msgs/msg/SensorImu
Endpoint type: PUBLISHER
GID: 01.0f.93.ea.6e.a4.7b.b8.01.00.00.00.00.00.12.03.00.00.00.00.00.00.00.00
QoS profile:
Reliability: BEST_EFFORT
History (Depth): UNKNOWN
Durability: TRANSIENT_LOCAL
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite
Subscription count: 0
In the python script I tried different QoS.
self.qos_profile = QoSProfile(reliability=QoSReliabilityPolicy.BEST_EFFORT, history=QoSHistoryPolicy.KEEP_LAST,depth=1)
doesn't keep the pace of the producer and I lose ~4k messages out of 79228.
I then tried to set KEEP_ALL and depth 10k (is depth really necessary?) along with the YAML file to override the ros2 bag.
ros2 bag play . --qos-profile-overrides-path history_override.yaml --topics /sensors/imu
The YAML file contains:
sensors/imu:
reliability: best_effort
history: keep_all
depth: 10000
With rate 1 is still losing 4-5k messages. I can actually save all the messages lowering the rate to 0.8.
I thought the problem was best_effort but It seems I cannot set reliable and I don't know why.
On python I set
self.qos_profile = QoSProfile(reliability=QoSReliabilityPolicy.RELIABLE, history=QoSHistoryPolicy.KEEP_LAST,depth=1)
and in the YAML:
sensors/imu:
reliability: realiable
history: keep_all
depth: 10000
I get the error:
gorgo@razer:~/drone-racing$ ros2 run ros2csv ros2csv
[INFO] [1687429831.257306779] [csv_subscriber]: CSV Subscriber initialized...
[WARN] [1687429835.403624258] [csv_subscriber]: New publisher discovered on topic 'sensors/imu', offering incompatible QoS. No messages will be received from it. Last incompatible policy: RELIABILITY
PC specs:
gorgo@razer:~/drone-racing$ neofetch
.-/+oossssoo+/-. gorgo@razer
`:+ssssssssssssssssss+:` -----------
-+ssssssssssssssssssyyssss+- OS: Ubuntu 20.04.6 LTS x86_64
.ossssssssssssssssssdMMMNysssso. Host: Blade 15 Advanced Model (Early 2020) - RZ09-033 5.04
/ssssssssssshdmmNNmmyNMMMMhssssss/ Kernel: 5.15.0-75-generic
+ssssssssshmydMMMMMMMNddddyssssssss+ Uptime: 5 hours, 34 mins
/sssssssshNMMMyhhyyyyhmNMMMNhssssssss/ Packages: 4336 (dpkg), 23 (snap)
.ssssssssdMMMNhsssssssssshNMMMdssssssss. Shell: bash 5.0.17
+sssshhhyNMMNyssssssssssssyNMMMysssssss+ Resolution: 3440x1440, 2560x1440
ossyNMMMNyMMhsssssssssssssshmmmhssssssso DE: GNOME
ossyNMMMNyMMhsssssssssssssshmmmhssssssso WM: Mutter
+sssshhhyNMMNyssssssssssssyNMMMysssssss+ WM Theme: Adwaita
.ssssssssdMMMNhsssssssssshNMMMdssssssss. Theme: Yaru [GTK2/3 ...