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rviz and stage tf timing issue in SimulatingOneRobot tutorial

asked 2011-03-17 06:22:02 -0500

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When trying the SimulatingOneRobot tutorial for stageros there appears an error in RViz concerning the LaserScan Transform:

Transform [sender=/stageros] For frame [base_laser_link]: No transform to fixed frame [/odom]. TF error: [You requested a transform that is 900.000 miliseconds in the past, but the most recent transform in the tf buffer is 1800.000 miliseconds old. ]

I have an Ubuntu 10.04 and the ROS diamondback Desktop-full installation.

Has anyone else come across this issue?

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Did you set the parameter "use_simtime" to "true"? You can check this be typing "rosparam get use_simtime" into a terminal.
Sabrina gravatar image Sabrina  ( 2011-03-17 08:18:48 -0500 )edit
The parameter is actually use_sim_time. Be sure to set it (e.g. rosparam set /use_sim_time true) before you launch any nodes.
mkoval gravatar image mkoval  ( 2011-03-17 09:48:42 -0500 )edit
Thank you for your ideas. I tried setting the /use_sim_time parameter to true, but unfortunately the issue remains. Do you know about rviz configuration? Somewhere it is expecting that tf each 900.000 and that is probably configurable
chcorbato gravatar image chcorbato  ( 2011-03-17 22:06:17 -0500 )edit
The reported error usually occurs when ROS time and Wall time don't match.. Did you try pressing rviz' "Reset" button? Sometimes this helps. Try running "rosrun tf tf_echo /base_laser_link /odom". This should show up the requested transform periodically - if available.
Sabrina gravatar image Sabrina  ( 2011-03-17 22:18:24 -0500 )edit
I've tried the Reset button, then the LaserSacan becomes ok but just for a moment, then the error re-appears. And that state makes the RViz almost unresponsive. The tf_echo shows the requested tf is avaible with a periodicity of 1.000
chcorbato gravatar image chcorbato  ( 2011-03-17 22:45:56 -0500 )edit
Is the scan displayed without errors if you change the fixed frame of rviz to "/base_laser_link" ?
Sabrina gravatar image Sabrina  ( 2011-03-17 23:45:26 -0500 )edit
Yes!! that made it. I changed the Fixed Frame to /base_laser_link in the RViz Global Options and the error dissapeared. You may post the answer to my question. Thank you very much Sabrina.
chcorbato gravatar image chcorbato  ( 2011-03-18 03:29:32 -0500 )edit
Unfortunately there seems to remain some issue with the LaserScan that when active makes RViz almost unresponsive, but that's another issue.
chcorbato gravatar image chcorbato  ( 2011-03-18 03:29:55 -0500 )edit

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answered 2011-03-26 03:40:23 -0500

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The problem is due to some issue with RViz and the Decay time for the Laser Scan display. I solved it setting it to 0, so only the latests reading are shown. As soon as you increase that value, RViz goes slower, at least in my machine, and almost freezes for the value of 100 given in the RViz configuration file provided in the stageros package (the one used in the tutorial)

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This sounds like your machine can't keep up. For reference what is your CPU and graphics card?
tfoote gravatar image tfoote  ( 2011-03-26 06:55:10 -0500 )edit
I'm using a VMWare virtual machine on a MacBook Pro with two i5 2.53GHz CPU's dedicated and a NVIDIA GeForce GT 330M
chcorbato gravatar image chcorbato  ( 2011-03-26 22:20:49 -0500 )edit

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Asked: 2011-03-17 06:22:02 -0500

Seen: 769 times

Last updated: Mar 26 '11