Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

tf transformation for simulated kinect Gazebo

I have a Gazebo-Ros simulation where I use a range laser to get scans which is working properly and I am able to use the autonomous navigation on a simulated environment. Now I wanted to use a kinect as a sensor to get scans using the depthimage to laserscan node to substitute the range laser. After simulating this kinect, including all the different config files, nodes... I am able to read the scans after the cloudthrottle, so I think I have much of it correctly configured, but I am having problems with the tf's tranformations for this simulated kinect, when I try to read the topic inside rviz I can not get the transform between /map and the kinect frame I publish, I think is only a matter of not publishing the right tf transform for the kinect or maybe I need another I am not aware of. Right now for this kinect I only publish a static transform for the output frame id (depth_cam) to base_link

After remapping the output frame topic to /camera_depth

tf transformation for simulated kinect Gazebo

I have a Gazebo-Ros simulation where I use a range laser to get scans which is working properly and I am able to use the autonomous navigation on a simulated environment. Now I wanted to use a kinect as a sensor to get scans using the depthimage to laserscan node to substitute the range laser. After simulating this kinect, including all the different config files, nodes... I am able to read the scans after the cloudthrottle, so I think I have much of it correctly configured, but I am having problems with the tf's tranformations for this simulated kinect, when I try to read the topic inside rviz I can not get the transform between /map and the kinect frame I publish, I think is only a matter of not publishing the right tf transform for the kinect or maybe I need another I am not aware of. Right now for this kinect I only publish a static transform for the output frame id (depth_cam) to base_link

After remapping the output frame topic to /camera_depth

< node pkg="tf" type="static_transform_publisher" name "depth_cam_tf" args="0 -0.02 0 0 0 0 /base_link /camera_depth >

I would appreciate any help.

tf transformation for simulated kinect Gazebo

I have a Gazebo-Ros simulation where I use a range laser to get scans which is working properly and I am able to use the autonomous navigation on a simulated environment. Now I wanted to use a kinect as a sensor to get scans using the depthimage to laserscan node to substitute the range laser. After simulating this kinect, including all the different config files, nodes... I am able to read the scans after the cloudthrottle, so I think I have much of it correctly configured, but I am having problems with the tf's tranformations for this simulated kinect, when I try to read the topic inside rviz I can not get the transform between /map and the kinect frame I publish, I think is only a matter of not publishing the right tf transform for the kinect or maybe I need another I am not aware of. Right now for this kinect I only publish a static transform for the output frame id (depth_cam) to base_link

After remapping the output frame topic to /camera_depth

< node pkg="tf" type="static_transform_publisher" name "depth_cam_tf" args="0 -0.02 0 0 0 0 /base_link /camera_depth >

output from tf tf_monitor

RESULTS: for all Frames

Frames: Frame: /Pioneer3AT/Sonar_1 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499152 Max Delay: 0 Frame: /Pioneer3AT/Sonar_10 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499171 Max Delay: 0 Frame: /Pioneer3AT/Sonar_11 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499167 Max Delay: 0 Frame: /Pioneer3AT/Sonar_12 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499165 Max Delay: 0 Frame: /Pioneer3AT/Sonar_13 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499162 Max Delay: 0 Frame: /Pioneer3AT/Sonar_14 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.49916 Max Delay: 0 Frame: /Pioneer3AT/Sonar_15 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499157 Max Delay: 0 Frame: /Pioneer3AT/Sonar_16 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499154 Max Delay: 0 Frame: /Pioneer3AT/Sonar_2 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499149 Max Delay: 0 Frame: /Pioneer3AT/Sonar_3 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499146 Max Delay: 0 Frame: /Pioneer3AT/Sonar_4 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499144 Max Delay: 0 Frame: /Pioneer3AT/Sonar_5 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499141 Max Delay: 0 Frame: /Pioneer3AT/Sonar_6 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499139 Max Delay: 0 Frame: /Pioneer3AT/Sonar_7 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499136 Max Delay: 0 Frame: /Pioneer3AT/Sonar_8 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499133 Max Delay: 0 Frame: /Pioneer3AT/Sonar_9 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499131 Max Delay: 0 Frame: /Pioneer3AT/base_link published by /Pioneer3AT_Gazebo Average Delay: -0.0493165 Max Delay: 0 Frame: /Pioneer3AT/camera_depth published by /depth_cam_tf Average Delay: -0.0996457 Max Delay: 0 Frame: /Pioneer3AT/front_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492777 Max Delay: 0 Frame: /Pioneer3AT/front_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499125 Max Delay: 0 Frame: /Pioneer3AT/front_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499122 Max Delay: 0 Frame: /Pioneer3AT/front_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492735 Max Delay: 0 Frame: /Pioneer3AT/front_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499119 Max Delay: 0 Frame: /Pioneer3AT/front_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499117 Max Delay: 0 Frame: /Pioneer3AT/front_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499114 Max Delay: 0 Frame: /Pioneer3AT/laserscan published by /Pioneer3AT_laserscan_tf Average Delay: -0.0326276 Max Delay: 0 Frame: /Pioneer3AT/odom published by /Pioneer3AT/amcl Average Delay: -0.494709 Max Delay: 0 Frame: /Pioneer3AT/rear_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492701 Max Delay: 0 Frame: /Pioneer3AT/rear_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499111 Max Delay: 0 Frame: /Pioneer3AT/rear_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499108 Max Delay: 0 Frame: /Pioneer3AT/rear_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492668 Max Delay: 0 Frame: /Pioneer3AT/rear_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499105 Max Delay: 0 Frame: /Pioneer3AT/rear_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499102 Max Delay: 0 Frame: /Pioneer3AT/rear_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.4991 Max Delay: 0 Frame: /Pioneer3AT/top_plate published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499128 Max Delay: 0

All Broadcasters: Node: /Pioneer3AT/amcl 18.6052 Hz, Average Delay: -0.494709 Max Delay: 0 Node: /Pioneer3AT_Gazebo 48.0592 Hz, Average Delay: -0.0493165 Max Delay: 0 Node: /Pioneer3AT_laserscan_tf 30.4796 Hz, Average Delay: -0.0326276 Max Delay: 0 Node: /Pioneer3AT_tf_broadcaster 30.6156 Hz, Average Delay: -0.347374 Max Delay: 0 Node: /depth_cam_tf 10.343 Hz, Average Delay: -0.0996457 Max Delay: 0

I would appreciate any help.

tf transformation for simulated kinect Gazebo

I have a Gazebo-Ros simulation where I use a range laser to get scans which is working properly and I am able to use the autonomous navigation on a simulated environment. Now I wanted to use a kinect as a sensor to get scans using the depthimage to laserscan node to substitute the range laser. After simulating this kinect, including all the different config files, nodes... I am able to read the scans after the cloudthrottle, so I think I have much of it correctly configured, but I am having problems with the tf's tranformations for this simulated kinect, when I try to read the topic inside rviz I can not get the transform between /map and the kinect frame I publish, I think is only a matter of not publishing the right tf transform for the kinect or maybe I need another I am not aware of. Right now for this kinect I only publish a static transform for the output frame id (depth_cam) to base_link

After remapping the output frame topic to /camera_depth

< node pkg="tf" type="static_transform_publisher" name "depth_cam_tf" args="0 -0.02 0 0 0 0 /base_link /camera_depth >

output from tf tf_monitor

RESULTS: for all Frames

Frames: Frame: /Pioneer3AT/Sonar_1 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499152 Max Delay: 0 Frame: /Pioneer3AT/Sonar_10 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499171 Max Delay: 0 Frame: /Pioneer3AT/Sonar_11 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499167 Max Delay: 0 Frame: /Pioneer3AT/Sonar_12 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499165 Max Delay: 0 Frame: /Pioneer3AT/Sonar_13 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499162 Max Delay: 0 Frame: /Pioneer3AT/Sonar_14 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.49916 Max Delay: 0 Frame: /Pioneer3AT/Sonar_15 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499157 Max Delay: 0 Frame: /Pioneer3AT/Sonar_16 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499154 Max Delay: 0 Frame: /Pioneer3AT/Sonar_2 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499149 Max Delay: 0 Frame: /Pioneer3AT/Sonar_3 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499146 Max Delay: 0 Frame: /Pioneer3AT/Sonar_4 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499144 Max Delay: 0 Frame: /Pioneer3AT/Sonar_5 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499141 Max Delay: 0 Frame: /Pioneer3AT/Sonar_6 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499139 Max Delay: 0 Frame: /Pioneer3AT/Sonar_7 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499136 Max Delay: 0 Frame: /Pioneer3AT/Sonar_8 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499133 Max Delay: 0 Frame: /Pioneer3AT/Sonar_9 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499131 Max Delay: 0 Frame: /Pioneer3AT/base_link published by /Pioneer3AT_Gazebo Average Delay: -0.0493165 Max Delay: 0 Frame: /Pioneer3AT/camera_depth published by /depth_cam_tf Average Delay: -0.0996457 Max Delay: 0 Frame: /Pioneer3AT/front_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492777 Max Delay: 0 Frame: /Pioneer3AT/front_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499125 Max Delay: 0 Frame: /Pioneer3AT/front_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499122 Max Delay: 0 Frame: /Pioneer3AT/front_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492735 Max Delay: 0 Frame: /Pioneer3AT/front_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499119 Max Delay: 0 Frame: /Pioneer3AT/front_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499117 Max Delay: 0 Frame: /Pioneer3AT/front_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499114 Max Delay: 0 Frame: /Pioneer3AT/laserscan published by /Pioneer3AT_laserscan_tf Average Delay: -0.0326276 Max Delay: 0 Frame: /Pioneer3AT/odom published by /Pioneer3AT/amcl Average Delay: -0.494709 Max Delay: 0 Frame: /Pioneer3AT/rear_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492701 Max Delay: 0 Frame: /Pioneer3AT/rear_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499111 Max Delay: 0 Frame: /Pioneer3AT/rear_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499108 Max Delay: 0 Frame: /Pioneer3AT/rear_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492668 Max Delay: 0 Frame: /Pioneer3AT/rear_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499105 Max Delay: 0 Frame: /Pioneer3AT/rear_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499102 Max Delay: 0 Frame: /Pioneer3AT/rear_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.4991 Max Delay: 0 Frame: /Pioneer3AT/top_plate published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499128 Max Delay: 0

All Broadcasters: Node: /Pioneer3AT/amcl 18.6052 Hz, Average Delay: -0.494709 Max Delay: 0 Node: /Pioneer3AT_Gazebo 48.0592 Hz, Average Delay: -0.0493165 Max Delay: 0 Node: /Pioneer3AT_laserscan_tf 30.4796 Hz, Average Delay: -0.0326276 Max Delay: 0 Node: /Pioneer3AT_tf_broadcaster 30.6156 Hz, Average Delay: -0.347374 Max Delay: 0 Node: /depth_cam_tf 10.343 Hz, Average Delay: -0.0996457 Max Delay: 0

The output of view_frames -> frames.pdf looks like something like that (only focused on the path I have the problem with)

1 /Pioneer3AT/map

Broadcaster: / Pioneer3AT/ amcl Average rate: 13.292 Hz Most recent transform: -0.451 sec old Buffer length: 4.890 sec

2 /Pioneer3AT/odom

Broadcaster: /Pioneer3AT_Gazebo Average rate: 45.346 Hz Most recent transform: -0.050 sec old Buffer length: 4.940 sec

3 /Pioneer3AT/base_link

Broadcaster: /depth_cam_tf Average rate: 870.036 Hz Most recent transform: -0.001 sec old Buffer length: 4.953 sec

4 /Pioneer3AT/camera_depth

It seems like the transforms are being made at the same time, but if I read the topics I get the following differences in the time stamp:

-For the pose topic for amcl which we could use for time reference:

header: seq: 2 stamp: secs: 1373456584 nsecs: 703128239 frame_id: /Pioneer3AT/map

-For the laserscan from a normal laser ranger, which works correctly and I can use to navigate

header: seq: 4820 stamp: secs: 1373456596 nsecs: 611743996 frame_id: /Pioneer3AT/laserscan

-But for the laserscan created from the kinect:

header: seq: 906 stamp: secs: 162 nsecs: 648000000 frame_id: /Pioneer3AT/camera_depth

It looks like this topic has a wrong time stamp compared with the rest. But I still don't know why.

I would appreciate any help.ideas.

tf transformation for simulated kinect GazeboGazebo (How to publish Gazebo Time?)

I have a Gazebo-Ros simulation where I use a range laser to get scans which is working properly and I am able to use the autonomous navigation on a simulated environment. Now I wanted to use a kinect as a sensor to get scans using the depthimage to laserscan node to substitute the range laser. After simulating this kinect, including all the different config files, nodes... I am able to read the scans after the cloudthrottle, so I think I have much of it correctly configured, but I am having problems with the tf's tranformations for this simulated kinect, when I try to read the topic inside rviz I can not get the transform between /map and the kinect frame I publish, I think is only a matter of not publishing the right tf transform for the kinect or maybe I need another I am not aware of. Right now for this kinect I only publish a static transform for the output frame id (depth_cam) to base_link

After remapping the output frame topic to /camera_depth

< node pkg="tf" type="static_transform_publisher" name "depth_cam_tf" args="0 -0.02 0 0 0 0 /base_link /camera_depth >

output from tf tf_monitor

RESULTS: for all Frames

Frames: Frame: /Pioneer3AT/Sonar_1 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499152 Max Delay: 0 Frame: /Pioneer3AT/Sonar_10 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499171 Max Delay: 0 Frame: /Pioneer3AT/Sonar_11 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499167 Max Delay: 0 Frame: /Pioneer3AT/Sonar_12 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499165 Max Delay: 0 Frame: /Pioneer3AT/Sonar_13 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499162 Max Delay: 0 Frame: /Pioneer3AT/Sonar_14 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.49916 Max Delay: 0 Frame: /Pioneer3AT/Sonar_15 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499157 Max Delay: 0 Frame: /Pioneer3AT/Sonar_16 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499154 Max Delay: 0 Frame: /Pioneer3AT/Sonar_2 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499149 Max Delay: 0 Frame: /Pioneer3AT/Sonar_3 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499146 Max Delay: 0 Frame: /Pioneer3AT/Sonar_4 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499144 Max Delay: 0 Frame: /Pioneer3AT/Sonar_5 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499141 Max Delay: 0 Frame: /Pioneer3AT/Sonar_6 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499139 Max Delay: 0 Frame: /Pioneer3AT/Sonar_7 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499136 Max Delay: 0 Frame: /Pioneer3AT/Sonar_8 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499133 Max Delay: 0 Frame: /Pioneer3AT/Sonar_9 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499131 Max Delay: 0 Frame: /Pioneer3AT/base_link published by /Pioneer3AT_Gazebo Average Delay: -0.0493165 Max Delay: 0 Frame: /Pioneer3AT/camera_depth published by /depth_cam_tf Average Delay: -0.0996457 Max Delay: 0 Frame: /Pioneer3AT/front_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492777 Max Delay: 0 Frame: /Pioneer3AT/front_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499125 Max Delay: 0 Frame: /Pioneer3AT/front_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499122 Max Delay: 0 Frame: /Pioneer3AT/front_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492735 Max Delay: 0 Frame: /Pioneer3AT/front_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499119 Max Delay: 0 Frame: /Pioneer3AT/front_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499117 Max Delay: 0 Frame: /Pioneer3AT/front_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499114 Max Delay: 0 Frame: /Pioneer3AT/laserscan published by /Pioneer3AT_laserscan_tf Average Delay: -0.0326276 Max Delay: 0 Frame: /Pioneer3AT/odom published by /Pioneer3AT/amcl Average Delay: -0.494709 Max Delay: 0 Frame: /Pioneer3AT/rear_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492701 Max Delay: 0 Frame: /Pioneer3AT/rear_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499111 Max Delay: 0 Frame: /Pioneer3AT/rear_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499108 Max Delay: 0 Frame: /Pioneer3AT/rear_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492668 Max Delay: 0 Frame: /Pioneer3AT/rear_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499105 Max Delay: 0 Frame: /Pioneer3AT/rear_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499102 Max Delay: 0 Frame: /Pioneer3AT/rear_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.4991 Max Delay: 0 Frame: /Pioneer3AT/top_plate published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499128 Max Delay: 0

All Broadcasters: Node: /Pioneer3AT/amcl 18.6052 Hz, Average Delay: -0.494709 Max Delay: 0 Node: /Pioneer3AT_Gazebo 48.0592 Hz, Average Delay: -0.0493165 Max Delay: 0 Node: /Pioneer3AT_laserscan_tf 30.4796 Hz, Average Delay: -0.0326276 Max Delay: 0 Node: /Pioneer3AT_tf_broadcaster 30.6156 Hz, Average Delay: -0.347374 Max Delay: 0 Node: /depth_cam_tf 10.343 Hz, Average Delay: -0.0996457 Max Delay: 0

The output of view_frames -> frames.pdf looks like something like that (only focused on the path I have the problem with)

1 /Pioneer3AT/map

Broadcaster: / Pioneer3AT/ amcl Average rate: 13.292 Hz Most recent transform: -0.451 sec old Buffer length: 4.890 sec

2 /Pioneer3AT/odom

Broadcaster: /Pioneer3AT_Gazebo Average rate: 45.346 Hz Most recent transform: -0.050 sec old Buffer length: 4.940 sec

3 /Pioneer3AT/base_link

Broadcaster: /depth_cam_tf Average rate: 870.036 Hz Most recent transform: -0.001 sec old Buffer length: 4.953 sec

4 /Pioneer3AT/camera_depth

It seems like the transforms are being made at the same time, but if I read the topics I get the following differences in the time stamp:

-For the pose topic for amcl which we could use for time reference:

header: seq: 2 stamp: secs: 1373456584 nsecs: 703128239 frame_id: /Pioneer3AT/map

-For the laserscan from a normal laser ranger, which works correctly and I can use to navigate

header: seq: 4820 stamp: secs: 1373456596 nsecs: 611743996 frame_id: /Pioneer3AT/laserscan

-But for the laserscan created from the kinect:

header: seq: 906 stamp: secs: 162 nsecs: 648000000 frame_id: /Pioneer3AT/camera_depth

It looks like this topic has a wrong time stamp compared with the rest. But I still don't know why.

I would appreciate any ideas.

tf transformation for simulated kinect Gazebo (How to publish Gazebo Time?)

I have a Gazebo-Ros simulation where I use a range laser to get scans which is working properly and I am able to use the autonomous navigation on a simulated environment. Now I wanted to use a kinect as a sensor to get scans using the depthimage to laserscan node to substitute the range laser. After simulating this kinect, including all the different config files, nodes... I am able to read the scans after the cloudthrottle, so I think I have much of it correctly configured, but I am having problems with the tf's tranformations for this simulated kinect, when I try to read the topic inside rviz I can not get the transform between /map and the kinect frame I publish, I think is only a matter of not publishing the right tf transform for the kinect or maybe I need another I am not aware of. Right now for this kinect I only publish a static transform for the output frame id (depth_cam) to base_link

After remapping the output frame topic to /camera_depth

< node pkg="tf" type="static_transform_publisher" name "depth_cam_tf" args="0 -0.02 0 0 0 0 /base_link /camera_depth >

output from tf tf_monitor

RESULTS: for all Frames

Frames: Frame: /Pioneer3AT/Sonar_1 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499152 Max Delay: 0 Frame: /Pioneer3AT/Sonar_10 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499171 Max Delay: 0 Frame: /Pioneer3AT/Sonar_11 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499167 Max Delay: 0 Frame: /Pioneer3AT/Sonar_12 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499165 Max Delay: 0 Frame: /Pioneer3AT/Sonar_13 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499162 Max Delay: 0 Frame: /Pioneer3AT/Sonar_14 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.49916 Max Delay: 0 Frame: /Pioneer3AT/Sonar_15 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499157 Max Delay: 0 Frame: /Pioneer3AT/Sonar_16 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499154 Max Delay: 0 Frame: /Pioneer3AT/Sonar_2 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499149 Max Delay: 0 Frame: /Pioneer3AT/Sonar_3 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499146 Max Delay: 0 Frame: /Pioneer3AT/Sonar_4 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499144 Max Delay: 0 Frame: /Pioneer3AT/Sonar_5 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499141 Max Delay: 0 Frame: /Pioneer3AT/Sonar_6 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499139 Max Delay: 0 Frame: /Pioneer3AT/Sonar_7 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499136 Max Delay: 0 Frame: /Pioneer3AT/Sonar_8 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499133 Max Delay: 0 Frame: /Pioneer3AT/Sonar_9 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499131 Max Delay: 0 Frame: /Pioneer3AT/base_link published by /Pioneer3AT_Gazebo Average Delay: -0.0493165 Max Delay: 0 Frame: /Pioneer3AT/camera_depth published by /depth_cam_tf Average Delay: -0.0996457 Max Delay: 0 Frame: /Pioneer3AT/front_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492777 Max Delay: 0 Frame: /Pioneer3AT/front_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499125 Max Delay: 0 Frame: /Pioneer3AT/front_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499122 Max Delay: 0 Frame: /Pioneer3AT/front_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492735 Max Delay: 0 Frame: /Pioneer3AT/front_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499119 Max Delay: 0 Frame: /Pioneer3AT/front_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499117 Max Delay: 0 Frame: /Pioneer3AT/front_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499114 Max Delay: 0 Frame: /Pioneer3AT/laserscan published by /Pioneer3AT_laserscan_tf Average Delay: -0.0326276 Max Delay: 0 Frame: /Pioneer3AT/odom published by /Pioneer3AT/amcl Average Delay: -0.494709 Max Delay: 0 Frame: /Pioneer3AT/rear_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492701 Max Delay: 0 Frame: /Pioneer3AT/rear_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499111 Max Delay: 0 Frame: /Pioneer3AT/rear_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499108 Max Delay: 0 Frame: /Pioneer3AT/rear_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492668 Max Delay: 0 Frame: /Pioneer3AT/rear_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499105 Max Delay: 0 Frame: /Pioneer3AT/rear_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499102 Max Delay: 0 Frame: /Pioneer3AT/rear_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.4991 Max Delay: 0 Frame: /Pioneer3AT/top_plate published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499128 Max Delay: 0

All Broadcasters: Node: /Pioneer3AT/amcl 18.6052 Hz, Average Delay: -0.494709 Max Delay: 0 Node: /Pioneer3AT_Gazebo 48.0592 Hz, Average Delay: -0.0493165 Max Delay: 0 Node: /Pioneer3AT_laserscan_tf 30.4796 Hz, Average Delay: -0.0326276 Max Delay: 0 Node: /Pioneer3AT_tf_broadcaster 30.6156 Hz, Average Delay: -0.347374 Max Delay: 0 Node: /depth_cam_tf 10.343 Hz, Average Delay: -0.0996457 Max Delay: 0

The output of view_frames -> frames.pdf looks like something like that (only focused on the path I have the problem with)

1 /Pioneer3AT/map

Broadcaster: / Pioneer3AT/ amcl Average rate: 13.292 Hz Most recent transform: -0.451 sec old Buffer length: 4.890 sec

2 /Pioneer3AT/odom

Broadcaster: /Pioneer3AT_Gazebo Average rate: 45.346 Hz Most recent transform: -0.050 sec old Buffer length: 4.940 sec

3 /Pioneer3AT/base_link

Broadcaster: /depth_cam_tf Average rate: 870.036 Hz Most recent transform: -0.001 sec old Buffer length: 4.953 sec

4 /Pioneer3AT/camera_depth

It seems like the transforms are being made at the same time, but if I read the topics I get the following differences in the time stamp:

-For the pose topic for amcl which we could use for time reference:

header: seq: 2 stamp: secs: 1373456584 nsecs: 703128239 frame_id: /Pioneer3AT/map

-For the laserscan from a normal laser ranger, which works correctly and I can use to navigate

header: seq: 4820 stamp: secs: 1373456596 nsecs: 611743996 frame_id: /Pioneer3AT/laserscan

-But for the laserscan created from the kinect:

header: seq: 906 stamp: secs: 162 nsecs: 648000000 frame_id: /Pioneer3AT/camera_depth

It looks like this topic has a wrong time stamp compared with the rest. But I still don't rest.

I know why. now, that part of the topics are using ROS time for the time stamp and the topics from the simulation in Gazebo are using on the other hand Gazebo's time.

Gazebo is not publishing in the /clock topic. I have /use_sim_time set to "true". Is there anything else needed to publish Gazebo's clock?

I would appreciate any ideas.

tf transformation for simulated kinect Gazebo (How to publish Gazebo Time?)

I have a Gazebo-Ros simulation where I use a range laser to get scans which is working properly and I am able to use the autonomous navigation on a simulated environment. Now I wanted to use a kinect as a sensor to get scans using the depthimage to laserscan node to substitute the range laser. After simulating this kinect, including all the different config files, nodes... I am able to read the scans after the cloudthrottle, so I think I have much of it correctly configured, but I am having problems with the tf's tranformations for this simulated kinect, when I try to read the topic inside rviz I can not get the transform between /map and the kinect frame I publish, I think is only a matter of not publishing the right tf transform for the kinect or maybe I need another I am not aware of. Right now for this kinect I only publish a static transform for the output frame id (depth_cam) to base_link

After remapping the output frame topic to /camera_depth

< node pkg="tf" type="static_transform_publisher" name "depth_cam_tf" args="0 -0.02 0 0 0 0 /base_link /camera_depth >

output from tf tf_monitor

RESULTS: for all Frames

Frames: Frames:

Frame: /Pioneer3AT/Sonar_1 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499152 Max Delay: 0 Frame: /Pioneer3AT/Sonar_10 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499171 Max Delay: 0 Frame: /Pioneer3AT/Sonar_11 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499167 Max Delay: 0 Frame: /Pioneer3AT/Sonar_12 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499165 Max Delay: 0 Frame: /Pioneer3AT/Sonar_13 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499162 Max Delay: 0 Frame: /Pioneer3AT/Sonar_14 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.49916 Max Delay: 0 Frame: /Pioneer3AT/Sonar_15 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499157 Max Delay: 0 Frame: /Pioneer3AT/Sonar_16 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499154 Max Delay: 0 Frame: /Pioneer3AT/Sonar_2 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499149 Max Delay: 0 Frame: /Pioneer3AT/Sonar_3 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499146 Max Delay: 0 Frame: /Pioneer3AT/Sonar_4 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499144 Max Delay: 0 Frame: /Pioneer3AT/Sonar_5 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499141 Max Delay: 0 Frame: /Pioneer3AT/Sonar_6 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499139 Max Delay: 0 Frame: /Pioneer3AT/Sonar_7 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499136 Max Delay: 0 Frame: /Pioneer3AT/Sonar_8 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499133 Max Delay: 0 Frame: /Pioneer3AT/Sonar_9 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499131 Max Delay: 0 0

Frame: /Pioneer3AT/base_link published by /Pioneer3AT_Gazebo Average Delay: -0.0493165 Max Delay: 0 0

Frame: /Pioneer3AT/camera_depth published by /depth_cam_tf Average Delay: -0.0996457 Max Delay: 0 0

Frame: /Pioneer3AT/front_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492777 Max Delay: 0 0

Frame: /Pioneer3AT/front_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499125 Max Delay: 0 0

Frame: /Pioneer3AT/front_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499122 Max Delay: 0 0

Frame: /Pioneer3AT/front_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492735 Max Delay: 0 0

Frame: /Pioneer3AT/front_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499119 Max Delay: 0 0

Frame: /Pioneer3AT/front_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499117 Max Delay: 0 0

Frame: /Pioneer3AT/front_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499114 Max Delay: 0 0

Frame: /Pioneer3AT/laserscan published by /Pioneer3AT_laserscan_tf Average Delay: -0.0326276 Max Delay: 0 0

Frame: /Pioneer3AT/odom published by /Pioneer3AT/amcl Average Delay: -0.494709 Max Delay: 0 0

Frame: /Pioneer3AT/rear_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492701 Max Delay: 0 0

Frame: /Pioneer3AT/rear_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499111 Max Delay: 0 0

Frame: /Pioneer3AT/rear_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499108 Max Delay: 0 0

Frame: /Pioneer3AT/rear_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492668 Max Delay: 0 0

Frame: /Pioneer3AT/rear_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499105 Max Delay: 0 0

Frame: /Pioneer3AT/rear_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499102 Max Delay: 0 0

Frame: /Pioneer3AT/rear_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.4991 Max Delay: 0 0

Frame: /Pioneer3AT/top_plate published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499128 Max Delay: 0

All Broadcasters: Broadcasters:

Node: /Pioneer3AT/amcl 18.6052 Hz, Average Delay: -0.494709 Max Delay: 0 0

Node: /Pioneer3AT_Gazebo 48.0592 Hz, Average Delay: -0.0493165 Max Delay: 0 0

Node: /Pioneer3AT_laserscan_tf 30.4796 Hz, Average Delay: -0.0326276 Max Delay: 0 0

Node: /Pioneer3AT_tf_broadcaster 30.6156 Hz, Average Delay: -0.347374 Max Delay: 0 0

Node: /depth_cam_tf 10.343 Hz, Average Delay: -0.0996457 Max Delay: 0

The output of view_frames -> frames.pdf looks like something like that (only focused on the path I have the problem with)

1 /Pioneer3AT/map

Broadcaster: / Pioneer3AT/ amcl Average rate: 13.292 Hz Most recent transform: -0.451 sec old Buffer length: 4.890 sec

2 /Pioneer3AT/odom

Broadcaster: /Pioneer3AT_Gazebo Average rate: 45.346 Hz Most recent transform: -0.050 sec old Buffer length: 4.940 sec

3 /Pioneer3AT/base_link

Broadcaster: /depth_cam_tf Average rate: 870.036 Hz Most recent transform: -0.001 sec old Buffer length: 4.953 sec

4 /Pioneer3AT/camera_depth

It seems like the transforms are being made at the same time, but if I read the topics I get the following differences in the time stamp:

-For the pose topic for amcl which we could use for time reference:

header: seq: 2 stamp: secs: 1373456584 nsecs: 703128239 frame_id: /Pioneer3AT/map

-For the laserscan from a normal laser ranger, which works correctly and I can use to navigate

header: seq: 4820 stamp: secs: 1373456596 nsecs: 611743996 frame_id: /Pioneer3AT/laserscan

-But for the laserscan created from the kinect:

header: seq: 906 stamp: secs: 162 nsecs: 648000000 frame_id: /Pioneer3AT/camera_depth

It looks like this topic has a wrong time stamp compared with the rest.

I know now, that part of the topics are using ROS time for the time stamp and the topics from the simulation in Gazebo are using on the other hand Gazebo's time.

Gazebo is not publishing in the /clock topic. I have /use_sim_time set to "true". Is there anything else needed to publish Gazebo's clock?

I would appreciate any ideas.

tf transformation for simulated kinect Gazebo (How to publish Gazebo Time?)

I have a Gazebo-Ros simulation where I use a range laser to get scans which is working properly and I am able to use the autonomous navigation on a simulated environment. Now I wanted to use a kinect as a sensor to get scans using the depthimage to laserscan node to substitute the range laser. After simulating this kinect, including all the different config files, nodes... I am able to read the scans after the cloudthrottle, so I think I have much of it correctly configured, but I am having problems with the tf's tranformations for this simulated kinect, when I try to read the topic inside rviz I can not get the transform between /map and the kinect frame I publish, I think is only a matter of not publishing the right tf transform for the kinect or maybe I need another I am not aware of. Right now for this kinect I only publish a static transform for the output frame id (depth_cam) to base_link

After remapping the output frame topic to /camera_depth

< node pkg="tf" type="static_transform_publisher" name "depth_cam_tf" args="0 -0.02 0 0 0 0 /base_link /camera_depth >

output from tf tf_monitor

RESULTS: for all Frames

Frames:

Frame: /Pioneer3AT/Sonar_1 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499152 Max Delay: 0

Frame: /Pioneer3AT/base_link published by /Pioneer3AT_Gazebo Average Delay: -0.0493165 Max Delay: 0

Frame: /Pioneer3AT/camera_depth published by /depth_cam_tf Average Delay: -0.0996457 Max Delay: 0

Frame: /Pioneer3AT/front_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492777 Max Delay: 0

Frame: /Pioneer3AT/front_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499125 Max Delay: 0

Frame: /Pioneer3AT/front_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499122 Max Delay: 0

Frame: /Pioneer3AT/front_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492735 Max Delay: 0

Frame: /Pioneer3AT/front_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499119 Max Delay: 0

Frame: /Pioneer3AT/front_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499117 Max Delay: 0

Frame: /Pioneer3AT/front_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499114 Max Delay: 0

Frame: /Pioneer3AT/laserscan published by /Pioneer3AT_laserscan_tf Average Delay: -0.0326276 Max Delay: 0

Frame: /Pioneer3AT/odom published by /Pioneer3AT/amcl Average Delay: -0.494709 Max Delay: 0

Frame: /Pioneer3AT/rear_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492701 Max Delay: 0

Frame: /Pioneer3AT/rear_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499111 Max Delay: 0

Frame: /Pioneer3AT/rear_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499108 Max Delay: 0

Frame: /Pioneer3AT/rear_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492668 Max Delay: 0

Frame: /Pioneer3AT/rear_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499105 Max Delay: 0

Frame: /Pioneer3AT/rear_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499102 Max Delay: 0

Frame: /Pioneer3AT/rear_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.4991 Max Delay: 0

Frame: /Pioneer3AT/top_plate published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499128 Max Delay: 0

All Broadcasters:

Node: /Pioneer3AT/amcl 18.6052 Hz, Average Delay: -0.494709 Max Delay: 0

Node: /Pioneer3AT_Gazebo 48.0592 Hz, Average Delay: -0.0493165 Max Delay: 0

Node: /Pioneer3AT_laserscan_tf 30.4796 Hz, Average Delay: -0.0326276 Max Delay: 0

Node: /Pioneer3AT_tf_broadcaster 30.6156 Hz, Average Delay: -0.347374 Max Delay: 0

Node: /depth_cam_tf 10.343 Hz, Average Delay: -0.0996457 Max Delay: 0

The output of view_frames -> frames.pdf looks like something like that (only focused on the path I have the problem with) with)

1 /Pioneer3AT/map

Broadcaster: / Pioneer3AT/ amcl Average rate: 13.292 Hz Most recent transform: -0.451 sec old Buffer length: 4.890 sec

2 /Pioneer3AT/odom

Broadcaster: /Pioneer3AT_Gazebo Average rate: 45.346 Hz Most recent transform: -0.050 sec old Buffer length: 4.940 sec

3 /Pioneer3AT/base_link

Broadcaster: /depth_cam_tf Average rate: 870.036 Hz Most recent transform: -0.001 sec old Buffer length: 4.953 sec

4 /Pioneer3AT/camera_depth

It seems like the transforms are being made at the same time, but if I read the topics I get the following differences in the time stamp:

-For the pose topic for amcl which we could use for time reference:

header: seq: 2 stamp: secs: 1373456584 1373456584 nsecs: 703128239 frame_id: /Pioneer3AT/map

-For the laserscan from a normal laser ranger, which works correctly and I can use to navigate navigate

header: seq: 4820 stamp: secs: 1373456596 1373456596 nsecs: 611743996 frame_id: /Pioneer3AT/laserscan

-But for the laserscan created from the kinect:

header: seq: 906 stamp: * secs: 162 162* nsecs: 648000000 frame_id: /Pioneer3AT/camera_depth

It looks like this topic has a wrong time stamp compared with the rest.

I know now, that part of the topics are using ROS time for the time stamp and the topics from the simulation in Gazebo are using on the other hand Gazebo's time.

time.

Gazebo is not publishing in the /clock topic. I have /use_sim_time set to "true". Is there anything else needed to publish Gazebo's clock? clock?

I would appreciate any ideas.

tf transformation for simulated kinect Gazebo (How to publish Gazebo Time?)

I have a Gazebo-Ros simulation where I use a range laser to get scans which is working properly and I am able to use the autonomous navigation on a simulated environment. Now I wanted to use a kinect as a sensor to get scans using the depthimage to laserscan node to substitute the range laser. After simulating this kinect, including all the different config files, nodes... I am able to read the scans after the cloudthrottle, so I think I have much of it correctly configured, but I am having problems with the tf's tranformations for this simulated kinect, when I try to read the topic inside rviz I can not get the transform between /map and the kinect frame I publish, I think is only a matter of not publishing the right tf transform for the kinect or maybe I need another I am not aware of. Right now for this kinect I only publish a static transform for the output frame id (depth_cam) to base_link

After remapping the output frame topic to /camera_depth

< node pkg="tf" type="static_transform_publisher" name "depth_cam_tf" args="0 -0.02 0 0 0 0 /base_link /camera_depth >

output from tf tf_monitor

RESULTS: for all Frames

Frames:

Frame: /Pioneer3AT/Sonar_1 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499152 Max Delay: 0

Frame: /Pioneer3AT/base_link published by /Pioneer3AT_Gazebo Average Delay: -0.0493165 Max Delay: 0

Frame: /Pioneer3AT/camera_depth published by /depth_cam_tf Average Delay: -0.0996457 Max Delay: 0

Frame: /Pioneer3AT/front_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492777 Max Delay: 0

Frame: /Pioneer3AT/front_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499125 Max Delay: 0

Frame: /Pioneer3AT/front_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499122 Max Delay: 0

Frame: /Pioneer3AT/front_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492735 Max Delay: 0

Frame: /Pioneer3AT/front_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499119 Max Delay: 0

Frame: /Pioneer3AT/front_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499117 Max Delay: 0

Frame: /Pioneer3AT/front_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499114 Max Delay: 0

Frame: /Pioneer3AT/laserscan published by /Pioneer3AT_laserscan_tf Average Delay: -0.0326276 Max Delay: 0

Frame: /Pioneer3AT/odom published by /Pioneer3AT/amcl Average Delay: -0.494709 Max Delay: 0

Frame: /Pioneer3AT/rear_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492701 Max Delay: 0

Frame: /Pioneer3AT/rear_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499111 Max Delay: 0

Frame: /Pioneer3AT/rear_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499108 Max Delay: 0

Frame: /Pioneer3AT/rear_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492668 Max Delay: 0

Frame: /Pioneer3AT/rear_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499105 Max Delay: 0

Frame: /Pioneer3AT/rear_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499102 Max Delay: 0

Frame: /Pioneer3AT/rear_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.4991 Max Delay: 0

Frame: /Pioneer3AT/top_plate published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499128 Max Delay: 0

All Broadcasters:

Node: /Pioneer3AT/amcl 18.6052 Hz, Average Delay: -0.494709 Max Delay: 0

Node: /Pioneer3AT_Gazebo 48.0592 Hz, Average Delay: -0.0493165 Max Delay: 0

Node: /Pioneer3AT_laserscan_tf 30.4796 Hz, Average Delay: -0.0326276 Max Delay: 0

Node: /Pioneer3AT_tf_broadcaster 30.6156 Hz, Average Delay: -0.347374 Max Delay: 0

Node: /depth_cam_tf 10.343 Hz, Average Delay: -0.0996457 Max Delay: 0

The output of view_frames -> frames.pdf looks like something like that (only focused on the path I have the problem with)

1 /Pioneer3AT/map

Broadcaster: / Pioneer3AT/ amcl Average rate: 13.292 Hz Most recent transform: -0.451 sec old Buffer length: 4.890 sec

2 /Pioneer3AT/odom

Broadcaster: /Pioneer3AT_Gazebo Average rate: 45.346 Hz Most recent transform: -0.050 sec old Buffer length: 4.940 sec

3 /Pioneer3AT/base_link

Broadcaster: /depth_cam_tf Average rate: 870.036 Hz Most recent transform: -0.001 sec old Buffer length: 4.953 sec

4 /Pioneer3AT/camera_depth

It seems like the transforms are being made at the same time, but if I read the topics I get the following differences in the time stamp:

-For the pose topic for amcl which we could use for time reference:

header: seq: 2 stamp: secs: 1373456584 nsecs: 703128239 frame_id: /Pioneer3AT/map

-For the laserscan from a normal laser ranger, which works correctly and I can use to navigate

header: seq: 4820 stamp: secs: 1373456596 nsecs: 611743996 frame_id: /Pioneer3AT/laserscan

-But for the laserscan created from the kinect:

header: seq: 906 stamp: * secs: 162* nsecs: 648000000 frame_id: /Pioneer3AT/camera_depth

It looks like this topic has a wrong time stamp compared with the rest.

I know now, that part of the topics are using ROS time for the time stamp and the topics from the simulation in Gazebo are using on the other hand Gazebo's time.

Gazebo is not publishing in the /clock topic. I have /use_sim_time set to "true". Is there anything else needed to publish Gazebo's clock?

I would appreciate any ideas.

tf transformation for simulated kinect Gazebo (How to publish Gazebo Time?)

I have a Gazebo-Ros simulation where I use a range laser to get scans which is working properly and I am able to use the autonomous navigation on a simulated environment. Now I wanted to use a kinect as a sensor to get scans using the depthimage to laserscan node to substitute the range laser. After simulating this kinect, including all the different config files, nodes... I am able to read the scans after the cloudthrottle, so I think I have much of it correctly configured, but I am having problems with the tf's tranformations for this simulated kinect, when I try to read the topic inside rviz I can not get the transform between /map and the kinect frame I publish, I think is only a matter of not publishing the right tf transform for the kinect or maybe I need another I am not aware of. Right now for this kinect I only publish a static transform for the output frame id (depth_cam) to base_link

After remapping the output frame topic to /camera_depth

< node pkg="tf" type="static_transform_publisher" name "depth_cam_tf" args="0 -0.02 0 0 0 0 /base_link /camera_depth >

output from tf tf_monitor

RESULTS: for all Frames

Frames:

Frame: /Pioneer3AT/Sonar_1 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499152 Max Delay: 0

Frame: /Pioneer3AT/base_link published by /Pioneer3AT_Gazebo Average Delay: -0.0493165 Max Delay: 0

Frame: /Pioneer3AT/camera_depth published by /depth_cam_tf Average Delay: -0.0996457 Max Delay: 0

Frame: /Pioneer3AT/front_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492777 Max Delay: 0

Frame: /Pioneer3AT/front_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499125 Max Delay: 0

Frame: /Pioneer3AT/front_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499122 Max Delay: 0

Frame: /Pioneer3AT/front_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492735 Max Delay: 0

Frame: /Pioneer3AT/front_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499119 Max Delay: 0

Frame: /Pioneer3AT/front_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499117 Max Delay: 0

Frame: /Pioneer3AT/front_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499114 Max Delay: 0

Frame: /Pioneer3AT/laserscan published by /Pioneer3AT_laserscan_tf Average Delay: -0.0326276 Max Delay: 0

Frame: /Pioneer3AT/odom published by /Pioneer3AT/amcl Average Delay: -0.494709 Max Delay: 0

Frame: /Pioneer3AT/rear_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492701 Max Delay: 0

Frame: /Pioneer3AT/rear_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499111 Max Delay: 0

Frame: /Pioneer3AT/rear_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499108 Max Delay: 0

Frame: /Pioneer3AT/rear_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492668 Max Delay: 0

Frame: /Pioneer3AT/rear_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499105 Max Delay: 0

Frame: /Pioneer3AT/rear_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499102 Max Delay: 0

Frame: /Pioneer3AT/rear_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.4991 Max Delay: 0

Frame: /Pioneer3AT/top_plate published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499128 Max Delay: 0

All Broadcasters:

Node: /Pioneer3AT/amcl 18.6052 Hz, Average Delay: -0.494709 Max Delay: 0

Node: /Pioneer3AT_Gazebo 48.0592 Hz, Average Delay: -0.0493165 Max Delay: 0

Node: /Pioneer3AT_laserscan_tf 30.4796 Hz, Average Delay: -0.0326276 Max Delay: 0

Node: /Pioneer3AT_tf_broadcaster 30.6156 Hz, Average Delay: -0.347374 Max Delay: 0

Node: /depth_cam_tf 10.343 Hz, Average Delay: -0.0996457 Max Delay: 0

The output of view_frames -> frames.pdf looks like something like that (only focused on the path I have the problem with)

1 /Pioneer3AT/map

Broadcaster: / Pioneer3AT/ amcl Average rate: 13.292 Hz Most recent transform: -0.451 sec old Buffer length: 4.890 sec

2 /Pioneer3AT/odom

Broadcaster: /Pioneer3AT_Gazebo Average rate: 45.346 Hz Most recent transform: -0.050 sec old Buffer length: 4.940 sec

3 /Pioneer3AT/base_link

Broadcaster: /depth_cam_tf Average rate: 870.036 Hz Most recent transform: -0.001 sec old Buffer length: 4.953 sec

4 /Pioneer3AT/camera_depth

It seems like the transforms are being made at the same time, but if I read the topics I get the following differences in the time stamp:

-For the pose topic for amcl which we could use for time reference:

header: seq: 2 stamp: secs: 1373456584 nsecs: 703128239 frame_id: /Pioneer3AT/map

-For the laserscan from a normal laser ranger, which works correctly and I can use to navigate

header: seq: 4820 stamp: secs: 1373456596 nsecs: 611743996 frame_id: /Pioneer3AT/laserscan

-But for the laserscan created from the kinect:

header: seq: 906 stamp: * secs: 162* nsecs: 648000000 frame_id: /Pioneer3AT/camera_depth

It looks like this topic has a wrong time stamp compared with the rest.

I know now, that part of the topics are using ROS time for the time stamp and the topics from the simulation in Gazebo are using on the other hand Gazebo's time.

Gazebo is not publishing in the /clock topic. I have /use_sim_time set to "true". Is there anything else needed to publish Gazebo's clock?

I would appreciate any ideas.

tf transformation for simulated kinect Gazebo (How to publish Gazebo Time?)

I have a Gazebo-Ros simulation where I use a range laser to get scans which is working properly and I am able to use the autonomous navigation on a simulated environment. Now I wanted to use a kinect as a sensor to get scans using the depthimage to laserscan node to substitute the range laser. After simulating this kinect, including all the different config files, nodes... I am able to read the scans after the cloudthrottle, so I think I have much of it correctly configured, but I am having problems with the tf's tranformations for this simulated kinect, when I try to read the topic inside rviz I can not get the transform between /map and the kinect frame I publish, I think is only a matter of not publishing the right tf transform for the kinect or maybe I need another I am not aware of. Right now for this kinect I only publish a static transform for the output frame id (depth_cam) to base_link

After remapping the output frame topic to /camera_depth

< node pkg="tf" type="static_transform_publisher" name "depth_cam_tf" args="0 -0.02 0 0 0 0 /base_link /camera_depth >

output from tf tf_monitor

RESULTS: for all Frames

Frames:

Frame: /Pioneer3AT/Sonar_1 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499152 Max Delay: 0

Frame: /Pioneer3AT/base_link published by /Pioneer3AT_Gazebo Average Delay: -0.0493165 Max Delay: 0

Frame: /Pioneer3AT/camera_depth published by /depth_cam_tf Average Delay: -0.0996457 Max Delay: 0

Frame: /Pioneer3AT/front_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492777 Max Delay: 0

Frame: /Pioneer3AT/front_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499125 Max Delay: 0

Frame: /Pioneer3AT/front_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499122 Max Delay: 0

Frame: /Pioneer3AT/front_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492735 Max Delay: 0

Frame: /Pioneer3AT/front_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499119 Max Delay: 0

Frame: /Pioneer3AT/front_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499117 Max Delay: 0

Frame: /Pioneer3AT/front_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499114 Max Delay: 0

Frame: /Pioneer3AT/laserscan published by /Pioneer3AT_laserscan_tf Average Delay: -0.0326276 Max Delay: 0

Frame: /Pioneer3AT/odom published by /Pioneer3AT/amcl Average Delay: -0.494709 Max Delay: 0

Frame: /Pioneer3AT/rear_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492701 Max Delay: 0

Frame: /Pioneer3AT/rear_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499111 Max Delay: 0

Frame: /Pioneer3AT/rear_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499108 Max Delay: 0

Frame: /Pioneer3AT/rear_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492668 Max Delay: 0

Frame: /Pioneer3AT/rear_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499105 Max Delay: 0

Frame: /Pioneer3AT/rear_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499102 Max Delay: 0

Frame: /Pioneer3AT/rear_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.4991 Max Delay: 0

Frame: /Pioneer3AT/top_plate published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499128 Max Delay: 0

All Broadcasters:

Node: /Pioneer3AT/amcl 18.6052 Hz, Average Delay: -0.494709 Max Delay: 0

Node: /Pioneer3AT_Gazebo 48.0592 Hz, Average Delay: -0.0493165 Max Delay: 0

Node: /Pioneer3AT_laserscan_tf 30.4796 Hz, Average Delay: -0.0326276 Max Delay: 0

Node: /Pioneer3AT_tf_broadcaster 30.6156 Hz, Average Delay: -0.347374 Max Delay: 0

Node: /depth_cam_tf 10.343 Hz, Average Delay: -0.0996457 Max Delay: 0

The output of view_frames -> frames.pdf looks like something like that (only focused on the path I have the problem with)

1 /Pioneer3AT/map

Broadcaster: / Pioneer3AT/ amcl Average rate: 13.292 Hz Most recent transform: -0.451 sec old Buffer length: 4.890 sec

2 /Pioneer3AT/odom

Broadcaster: /Pioneer3AT_Gazebo Average rate: 45.346 Hz Most recent transform: -0.050 sec old Buffer length: 4.940 sec

3 /Pioneer3AT/base_link

Broadcaster: /depth_cam_tf Average rate: 870.036 Hz Most recent transform: -0.001 sec old Buffer length: 4.953 sec

4 /Pioneer3AT/camera_depth

It seems like the transforms are being made at the same time, but if I read the topics I get the following differences in the time stamp:

-For the pose topic for amcl which we could use for time reference:

header: seq: 2 stamp: secs: 1373456584 nsecs: 703128239 frame_id: /Pioneer3AT/map

-For the laserscan from a normal laser ranger, which works correctly and I can use to navigate

header: seq: 4820 stamp: secs: 1373456596 nsecs: 611743996 frame_id: /Pioneer3AT/laserscan

-But for the laserscan created from the kinect:

header: seq: 906 stamp: * secs: 162* nsecs: 648000000 frame_id: /Pioneer3AT/camera_depth

It looks like this topic has a wrong time stamp compared with the rest.

I know now, that part of the topics are using ROS time for the time stamp and the topics from the simulation in Gazebo are using on the other hand Gazebo's time.

Gazebo is not publishing in the /clock topic. I have /use_sim_time set to "true". Is there anything else needed to publish Gazebo's clock?

I would appreciate any ideas.

tf transformation for simulated kinect Gazebo (How to publish Gazebo Time?)

I have a Gazebo-Ros simulation where I use a range laser to get scans which is working properly and I am able to use the autonomous navigation on a simulated environment. Now I wanted to use a kinect as a sensor to get scans using the depthimage to laserscan node to substitute the range laser. After simulating this kinect, including all the different config files, nodes... I am able to read the scans after the cloudthrottle, so I think I have much of it correctly configured, but I am having problems with the tf's tranformations for this simulated kinect, when I try to read the topic inside rviz I can not get the transform between /map and the kinect frame I publish, I think is only a matter of not publishing the right tf transform for the kinect or maybe I need another I am not aware of. Right now for this kinect I only publish a static transform for the output frame id (depth_cam) to base_link

After remapping the output frame topic to /camera_depth

< node pkg="tf" type="static_transform_publisher" name "depth_cam_tf" args="0 -0.02 0 0 0 0 /base_link /camera_depth >

output from tf tf_monitor

RESULTS: for all Frames

Frames:

Frame: /Pioneer3AT/Sonar_1 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499152 Max Delay: 0

Frame: /Pioneer3AT/base_link published by /Pioneer3AT_Gazebo Average Delay: -0.0493165 Max Delay: 0

Frame: /Pioneer3AT/camera_depth published by /depth_cam_tf Average Delay: -0.0996457 Max Delay: 0

Frame: /Pioneer3AT/front_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492777 Max Delay: 0

Frame: /Pioneer3AT/front_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499125 Max Delay: 0

Frame: /Pioneer3AT/front_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499122 Max Delay: 0

Frame: /Pioneer3AT/front_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492735 Max Delay: 0

Frame: /Pioneer3AT/front_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499119 Max Delay: 0

Frame: /Pioneer3AT/front_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499117 Max Delay: 0

Frame: /Pioneer3AT/front_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499114 Max Delay: 0

Frame: /Pioneer3AT/laserscan published by /Pioneer3AT_laserscan_tf Average Delay: -0.0326276 Max Delay: 0

Frame: /Pioneer3AT/odom published by /Pioneer3AT/amcl Average Delay: -0.494709 Max Delay: 0

Frame: /Pioneer3AT/rear_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492701 Max Delay: 0

Frame: /Pioneer3AT/rear_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499111 Max Delay: 0

Frame: /Pioneer3AT/rear_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499108 Max Delay: 0

Frame: /Pioneer3AT/rear_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492668 Max Delay: 0

Frame: /Pioneer3AT/rear_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499105 Max Delay: 0

Frame: /Pioneer3AT/rear_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499102 Max Delay: 0

Frame: /Pioneer3AT/rear_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.4991 Max Delay: 0

Frame: /Pioneer3AT/top_plate published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499128 Max Delay: 0

All Broadcasters:

Node: /Pioneer3AT/amcl 18.6052 Hz, Average Delay: -0.494709 Max Delay: 0

Node: /Pioneer3AT_Gazebo 48.0592 Hz, Average Delay: -0.0493165 Max Delay: 0

Node: /Pioneer3AT_laserscan_tf 30.4796 Hz, Average Delay: -0.0326276 Max Delay: 0

Node: /Pioneer3AT_tf_broadcaster 30.6156 Hz, Average Delay: -0.347374 Max Delay: 0

Node: /depth_cam_tf 10.343 Hz, Average Delay: -0.0996457 Max Delay: 0

The output of view_frames -> frames.pdf looks like something like that (only focused on the path I have the problem with)

1 /Pioneer3AT/map

Broadcaster: / Pioneer3AT/ amcl Average rate: 13.292 Hz Most recent transform: -0.451 sec old Buffer length: 4.890 sec

2 /Pioneer3AT/odom

Broadcaster: /Pioneer3AT_Gazebo Average rate: 45.346 Hz Most recent transform: -0.050 sec old Buffer length: 4.940 sec

3 /Pioneer3AT/base_link

Broadcaster: /depth_cam_tf Average rate: 870.036 Hz Most recent transform: -0.001 sec old Buffer length: 4.953 sec

4 /Pioneer3AT/camera_depth

It seems like the transforms are being made at the same time, but if I read the topics I get the following differences in the time stamp:

-For the pose topic for amcl which we could use for time reference:

header: seq: 2 stamp: secs: 1373456584 nsecs: 703128239 frame_id: /Pioneer3AT/map

-For the laserscan from a normal laser ranger, which works correctly and I can use to navigate

header: seq: 4820 stamp: secs: 1373456596 nsecs: 611743996 frame_id: /Pioneer3AT/laserscan

-But for the laserscan created from the kinect:

header: seq: 906 stamp: * secs: 162* nsecs: 648000000 frame_id: /Pioneer3AT/camera_depth

It looks like this topic has a wrong time stamp compared with the rest.

I know now, that part of the topics are using ROS time for the time stamp and the topics from the simulation in Gazebo are using on the other hand Gazebo's time.

Gazebo is not publishing in the /clock topic. I have /use_sim_time set to "true". Is there anything else needed to publish Gazebo's clock?

I would appreciate any ideas.

tf transformation for simulated kinect Gazebo (How to publish Gazebo Time?)

I have a Gazebo-Ros simulation where I use a range laser to get scans which is working properly and I am able to use the autonomous navigation on a simulated environment. Now I wanted to use a kinect as a sensor to get scans using the depthimage to laserscan node to substitute the range laser. After simulating this kinect, including all the different config files, nodes... I am able to read the scans after the cloudthrottle, so I think I have much of it correctly configured, but I am having problems with the tf's tranformations for this simulated kinect, when I try to read the topic inside rviz I can not get the transform between /map and the kinect frame I publish, I think is only a matter of not publishing the right tf transform for the kinect or maybe I need another I am not aware of. Right now for this kinect I only publish a static transform for the output frame id (depth_cam) to base_link

After remapping the output frame topic to /camera_depth

< node pkg="tf" type="static_transform_publisher" name "depth_cam_tf" args="0 -0.02 0 0 0 0 /base_link /camera_depth >

output from tf tf_monitor

RESULTS: for all Frames

Frames:

Frame: /Pioneer3AT/Sonar_1 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499152 Max Delay: 0

Frame: /Pioneer3AT/base_link published by /Pioneer3AT_Gazebo Average Delay: -0.0493165 Max Delay: 0

Frame: /Pioneer3AT/camera_depth published by /depth_cam_tf Average Delay: -0.0996457 Max Delay: 0

Frame: /Pioneer3AT/front_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492777 Max Delay: 0

Frame: /Pioneer3AT/front_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499125 Max Delay: 0

Frame: /Pioneer3AT/front_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499122 Max Delay: 0

Frame: /Pioneer3AT/front_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492735 Max Delay: 0

Frame: /Pioneer3AT/front_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499119 Max Delay: 0

Frame: /Pioneer3AT/front_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499117 Max Delay: 0

Frame: /Pioneer3AT/front_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499114 Max Delay: 0

Frame: /Pioneer3AT/laserscan published by /Pioneer3AT_laserscan_tf Average Delay: -0.0326276 Max Delay: 0

Frame: /Pioneer3AT/odom published by /Pioneer3AT/amcl Average Delay: -0.494709 Max Delay: 0

Frame: /Pioneer3AT/rear_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492701 Max Delay: 0

Frame: /Pioneer3AT/rear_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499111 Max Delay: 0

Frame: /Pioneer3AT/rear_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499108 Max Delay: 0

Frame: /Pioneer3AT/rear_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492668 Max Delay: 0

Frame: /Pioneer3AT/rear_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499105 Max Delay: 0

Frame: /Pioneer3AT/rear_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499102 Max Delay: 0

Frame: /Pioneer3AT/rear_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.4991 Max Delay: 0

Frame: /Pioneer3AT/top_plate published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499128 Max Delay: 0

All Broadcasters:

Node: /Pioneer3AT/amcl 18.6052 Hz, Average Delay: -0.494709 Max Delay: 0

Node: /Pioneer3AT_Gazebo 48.0592 Hz, Average Delay: -0.0493165 Max Delay: 0

Node: /Pioneer3AT_laserscan_tf 30.4796 Hz, Average Delay: -0.0326276 Max Delay: 0

Node: /Pioneer3AT_tf_broadcaster 30.6156 Hz, Average Delay: -0.347374 Max Delay: 0

Node: /depth_cam_tf 10.343 Hz, Average Delay: -0.0996457 Max Delay: 0

The output of view_frames -> frames.pdf looks like something like that (only focused on the path I have the problem with)

1 /Pioneer3AT/map

Broadcaster: / Pioneer3AT/ amcl Average rate: 13.292 Hz Most recent transform: -0.451 sec old Buffer length: 4.890 sec

2 /Pioneer3AT/odom

Broadcaster: /Pioneer3AT_Gazebo Average rate: 45.346 Hz Most recent transform: -0.050 sec old Buffer length: 4.940 sec

3 /Pioneer3AT/base_link

Broadcaster: /depth_cam_tf Average rate: 870.036 Hz Most recent transform: -0.001 sec old Buffer length: 4.953 sec

4 /Pioneer3AT/camera_depth

It seems like the transforms are being made at the same time, but if I read the topics I get the following differences in the time stamp:

-For the pose topic for amcl which we could use for time reference:

header: seq: 2 stamp: secs: 1373456584 nsecs: 703128239 frame_id: /Pioneer3AT/map

-For the laserscan from a normal laser ranger, which works correctly and I can use to navigate

header: seq: 4820 stamp: secs: 1373456596 nsecs: 611743996 frame_id: /Pioneer3AT/laserscan

-But for the laserscan created from the kinect:

header: seq: 906 stamp: * secs: 162* nsecs: 648000000 frame_id: /Pioneer3AT/camera_depth

It looks like this topic has a wrong time stamp compared with the rest.

I know now, that part of the topics are using ROS time for the time stamp and the topics from the simulation in Gazebo are using on the other hand Gazebo's time.

Gazebo is not publishing in the /clock topic. I have /use_sim_time set to "true". Is there anything else needed to publish Gazebo's clock?

I would appreciate any ideas.

tf transformation for simulated kinect Gazebo (How to publish Gazebo Time?)

I have a Gazebo-Ros simulation where I use a range laser to get scans which is working properly and I am able to use the autonomous navigation on a simulated environment. Now I wanted to use a kinect as a sensor to get scans using the depthimage to laserscan node to substitute the range laser. After simulating this kinect, including all the different config files, nodes... I am able to read the scans after the cloudthrottle, so I think I have much of it correctly configured, but I am having problems with the tf's tranformations for this simulated kinect, when I try to read the topic inside rviz I can not get the transform between /map and the kinect frame I publish, I think is only a matter of not publishing the right tf transform for the kinect or maybe I need another I am not aware of. Right now for this kinect I only publish a static transform for the output frame id (depth_cam) to base_link

After remapping the output frame topic to /camera_depth

< node pkg="tf" type="static_transform_publisher" name "depth_cam_tf" args="0 -0.02 0 0 0 0 /base_link /camera_depth >

output from tf tf_monitor

RESULTS: for all Frames

Frames:

Frame: /Pioneer3AT/Sonar_1 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499152 Max Delay: 0

Frame: /Pioneer3AT/base_link published by /Pioneer3AT_Gazebo Average Delay: -0.0493165 Max Delay: 0

Frame: /Pioneer3AT/camera_depth published by /depth_cam_tf Average Delay: -0.0996457 Max Delay: 0

Frame: /Pioneer3AT/front_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492777 Max Delay: 0

Frame: /Pioneer3AT/front_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499125 Max Delay: 0

Frame: /Pioneer3AT/front_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499122 Max Delay: 0

Frame: /Pioneer3AT/front_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492735 Max Delay: 0

Frame: /Pioneer3AT/front_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499119 Max Delay: 0

Frame: /Pioneer3AT/front_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499117 Max Delay: 0

Frame: /Pioneer3AT/front_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499114 Max Delay: 0

Frame: /Pioneer3AT/laserscan published by /Pioneer3AT_laserscan_tf Average Delay: -0.0326276 Max Delay: 0

Frame: /Pioneer3AT/odom published by /Pioneer3AT/amcl Average Delay: -0.494709 Max Delay: 0

Frame: /Pioneer3AT/rear_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492701 Max Delay: 0

Frame: /Pioneer3AT/rear_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499111 Max Delay: 0

Frame: /Pioneer3AT/rear_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499108 Max Delay: 0

Frame: /Pioneer3AT/rear_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492668 Max Delay: 0

Frame: /Pioneer3AT/rear_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499105 Max Delay: 0

Frame: /Pioneer3AT/rear_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499102 Max Delay: 0

Frame: /Pioneer3AT/rear_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.4991 Max Delay: 0

Frame: /Pioneer3AT/top_plate published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499128 Max Delay: 0

All Broadcasters:

Node: /Pioneer3AT/amcl 18.6052 Hz, Average Delay: -0.494709 Max Delay: 0

Node: /Pioneer3AT_Gazebo 48.0592 Hz, Average Delay: -0.0493165 Max Delay: 0

Node: /Pioneer3AT_laserscan_tf 30.4796 Hz, Average Delay: -0.0326276 Max Delay: 0

Node: /Pioneer3AT_tf_broadcaster 30.6156 Hz, Average Delay: -0.347374 Max Delay: 0

Node: /depth_cam_tf 10.343 Hz, Average Delay: -0.0996457 Max Delay: 0

The output of view_frames -> frames.pdf looks like something like that (only focused on the path I have the problem with)

1 /Pioneer3AT/map

Broadcaster: / Pioneer3AT/ amcl Average rate: 13.292 Hz Most recent transform: -0.451 sec old Buffer length: 4.890 sec

2 /Pioneer3AT/odom

Broadcaster: /Pioneer3AT_Gazebo Average rate: 45.346 Hz Most recent transform: -0.050 sec old Buffer length: 4.940 sec

3 /Pioneer3AT/base_link

Broadcaster: /depth_cam_tf Average rate: 870.036 Hz Most recent transform: -0.001 sec old Buffer length: 4.953 sec

4 /Pioneer3AT/camera_depth

It seems like the transforms are being made at the same time, but if I read the topics I get the following differences in the time stamp:

-For the pose topic for amcl which we could use for time reference:

header: seq: 2 stamp: secs: 1373456584 nsecs: 703128239 frame_id: /Pioneer3AT/map

-For the laserscan from a normal laser ranger, which works correctly and I can use to navigate

header: seq: 4820 stamp: secs: 1373456596 nsecs: 611743996 frame_id: /Pioneer3AT/laserscan

-But for the laserscan created from the kinect:

header: seq: 906 stamp: * secs: 162* nsecs: 648000000 frame_id: /Pioneer3AT/camera_depth

It looks like this topic has a wrong time stamp compared with the rest.

I know now, that part of the topics are using ROS time for the time stamp and the topics from the simulation in Gazebo are using on the other hand Gazebo's time.

Gazebo is not publishing in the /clock topic. I have /use_sim_time set to "true". Is there anything else needed to publish Gazebo's clock?

I would appreciate any ideas.

tf transformation for simulated kinect Gazebo (How to publish Gazebo Time?)

I have a Gazebo-Ros simulation where I use a range laser to get scans which is working properly and I am able to use the autonomous navigation on a simulated environment. Now I wanted to use a kinect as a sensor to get scans using the depthimage to laserscan node to substitute the range laser. After simulating this kinect, including all the different config files, nodes... I am able to read the scans after the cloudthrottle, so I think I have much of it correctly configured, but I am having problems with the tf's tranformations for this simulated kinect, when I try to read the topic inside rviz I can not get the transform between /map and the kinect frame I publish, I think is only a matter of not publishing the right tf transform for the kinect or maybe I need another I am not aware of. Right now for this kinect I only publish a static transform for the output frame id (depth_cam) to base_link

After remapping the output frame topic to /camera_depth

< node pkg="tf" type="static_transform_publisher" name "depth_cam_tf" args="0 -0.02 0 0 0 0 /base_link /camera_depth >

output from tf tf_monitor

RESULTS: for all Frames

Frames:

Frame: /Pioneer3AT/Sonar_1 published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499152 Max Delay: 0

Frame: /Pioneer3AT/base_link published by /Pioneer3AT_Gazebo Average Delay: -0.0493165 Max Delay: 0

Frame: /Pioneer3AT/camera_depth published by /depth_cam_tf Average Delay: -0.0996457 Max Delay: 0

Frame: /Pioneer3AT/front_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492777 Max Delay: 0

Frame: /Pioneer3AT/front_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499125 Max Delay: 0

Frame: /Pioneer3AT/front_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499122 Max Delay: 0

Frame: /Pioneer3AT/front_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492735 Max Delay: 0

Frame: /Pioneer3AT/front_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499119 Max Delay: 0

Frame: /Pioneer3AT/front_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499117 Max Delay: 0

Frame: /Pioneer3AT/front_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499114 Max Delay: 0

Frame: /Pioneer3AT/laserscan published by /Pioneer3AT_laserscan_tf Average Delay: -0.0326276 Max Delay: 0

Frame: /Pioneer3AT/odom published by /Pioneer3AT/amcl Average Delay: -0.494709 Max Delay: 0

Frame: /Pioneer3AT/rear_left_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492701 Max Delay: 0

Frame: /Pioneer3AT/rear_left_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499111 Max Delay: 0

Frame: /Pioneer3AT/rear_left_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499108 Max Delay: 0

Frame: /Pioneer3AT/rear_right_axle published by /Pioneer3AT_tf_broadcaster Average Delay: -0.0492668 Max Delay: 0

Frame: /Pioneer3AT/rear_right_hub published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499105 Max Delay: 0

Frame: /Pioneer3AT/rear_right_wheel published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499102 Max Delay: 0

Frame: /Pioneer3AT/rear_sonar published by /Pioneer3AT_tf_broadcaster Average Delay: -0.4991 Max Delay: 0

Frame: /Pioneer3AT/top_plate published by /Pioneer3AT_tf_broadcaster Average Delay: -0.499128 Max Delay: 0

All Broadcasters:

Node: /Pioneer3AT/amcl 18.6052 Hz, Average Delay: -0.494709 Max Delay: 0

Node: /Pioneer3AT_Gazebo 48.0592 Hz, Average Delay: -0.0493165 Max Delay: 0

Node: /Pioneer3AT_laserscan_tf 30.4796 Hz, Average Delay: -0.0326276 Max Delay: 0

Node: /Pioneer3AT_tf_broadcaster 30.6156 Hz, Average Delay: -0.347374 Max Delay: 0

Node: /depth_cam_tf 10.343 Hz, Average Delay: -0.0996457 Max Delay: 0

The output of view_frames -> frames.pdf looks like something like that (only focused on the path I have the problem with)

1 /Pioneer3AT/map

Broadcaster: / Pioneer3AT/ amcl Average rate: 13.292 Hz Most recent transform: -0.451 sec old Buffer length: 4.890 sec

2 /Pioneer3AT/odom

Broadcaster: /Pioneer3AT_Gazebo Average rate: 45.346 Hz Most recent transform: -0.050 sec old Buffer length: 4.940 sec

3 /Pioneer3AT/base_link

Broadcaster: /depth_cam_tf Average rate: 870.036 Hz Most recent transform: -0.001 sec old Buffer length: 4.953 sec

4 /Pioneer3AT/camera_depth

It seems like the transforms are being made at the same time, but if I read the topics I get the following differences in the time stamp:

-For the pose topic for amcl which we could use for time reference:

header: seq: 2 stamp: secs: 1373456584 nsecs: 703128239 frame_id: /Pioneer3AT/map

-For the laserscan from a normal laser ranger, which works correctly and I can use to navigate

header: seq: 4820 stamp: secs: 1373456596 nsecs: 611743996 frame_id: /Pioneer3AT/laserscan

-But for the laserscan created from the kinect:

header: seq: 906 stamp: * secs: 162* nsecs: 648000000 frame_id: /Pioneer3AT/camera_depth

It looks like this topic has a wrong time stamp compared with the rest.

I know now, that part of the topics are using ROS time for the time stamp and the topics from the simulation in Gazebo are using on the other hand Gazebo's time.

Gazebo is not publishing in the /clock topic. I have /use_sim_time set to "true". Is there anything else needed to publish Gazebo's clock?

I would appreciate any ideas.