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rclcpp::Parameter std::vector<int> ros_vec; ros_vec = this->get_parameter("ros_vec").as_integer_array();

rclcpp::Parameter std::vector<int> ros_vec; ros_vec = this->get_parameter("ros_vec").as_integer_array();

rclcpp::Parameter std::vector<int> ros_vec; ros_vec = this->get_parameter("ros_vec").as_integer_array();

rclcpp::Parameter std::vector<int> ros_vec; ros_vec = this->get_parameter("ros_vec").as_integer_array();

Hello, I have /camera_1, /camera_2, /camera_3 and /camera_4 which are published by 4 client nodes. The 4 topics process are all the same (save received msg into one buffer variable ). Could I bind only one callback to 4 rclcpp::Subscription objects? Thanks for your help a lot!

m_client_topic_subs_.clear(); //std::vector<rclcpp::SubscriptionBase::SharedPtr> m_client_topic_subs_;

the same msg type of multiple topic names can use only one callback on ros2? Hello, I have "/camera_1" "/camera_2" "

Hello all,

In foxy tf2_ros::Buffer::lookupTransform(),

geometry_msgs::msg::TransformStamped 
tf2_ros::Buffer::lookupTransform(const std::string&     target_frame,
                  const std::string&    source_frame,
                  const tf2::TimePoint& time,
                  const tf2::Duration   timeout ) const
 @param time:   The time at which the value of the transform is desired. (0 will get the latest)

We can use tf2::TimePoint(std::chrono::nanoseconds(0)) to get the latest transform. In foxy tf2 namespace

using tf2::Duration = typedef std::chrono::nanoseconds
using tf2::TimePoint = typedef std::chrono::time_point<std::chrono::system_clock, Duration>

tf2::TimePoint use system_clock. Although we can use tf2::TimePoint fromRclcpp(const rclcpp::Time & time) to convert a rclcpp::Time into tf2::TimePoint, rclcpp::Time may be use a ROS time, such as RCL_ROS_TIME time source

inline tf2::TimePoint fromRclcpp(const rclcpp::Time & time)
{
  // tf2::TimePoint is a typedef to a system time point, but rclcpp::Time may be ROS time.
  // Ignore that, and assume the clock used from rclcpp time points is consistent.
  return tf2::TimePoint(std::chrono::nanoseconds(time.nanoseconds()));
}

My question is:
1: Could we directly use rclcpp::Time lookupTransform() version to get latest transform, no need to convert into tf2::TimePoint ?

2: AutowareArchitectureProposal: Replacing tf2_ros::Buffer says there is some bug in tf2_ros::Buffter, is it true ?

Thanks for your help and time!

@timRO, thanks for your help :). tf2::TimePointZero is defined here line=50 btw. Did you meet tf net delay is very big

@timRO, thanks for your help :). tf2::TimePointZero is defined here line=50 BTW. Did you meet tf net delay is very big

@timRO, thanks for your help :). tf2::TimePointZero is defined [here line=50], (https://docs.ros2.org/foxy/api/tf2/time

tf2_monitor net delay and hz when playing ros2 bag Hello all, My robot base node, which publish odom to base_link tf on

ros2 lookupTransform() to get latest transform Hello all, In foxy tf2_ros::Buffer::lookupTransform(), geometry_msgs:

ros2 lookupTransform() to get latest transform Hello all, In foxy tf2_ros::Buffer::lookupTransform(), geometry_msgs:

covariance evaluation wrt localization lost Hello all, I'm sorry it's not a question about ROS, but about state estimat

rclcpp::Time() and rclcpp::Clock() Hello all, I have 4 questions about ros2 time, please see the following part :) Q1:

Could libgazebo_ros_p3d 'bodyName' be other frame_id? Hi all, We use libgazebo_ros_p3d to get ground truth in gazebo.

Hello,

I use robot_pose_ekf to fuse odom and imu to get a more accurate tf(from odom to base_footprint),and then let amcl use this tf to provide a tf(from map to base_footprint). And when i see the amcl wiki , it tells me we should use diff-corrected odom model. I also use likelihood_field_problaser model to let amcl not use the scans which hit unexpected obstacles such human beings ,when localizing robot with laser on the global map . In rviz ,when i see amcl provides particle_cloud,it is more converged than old models(diff mode and likelihood_field laser model), very excited and thankful!!!!

• But sometimes when robot is moving and all particle_cloud is converged( in free map areas ,there is no particle),let us mark this time is t_ktime. Suddenly the particle_cloud is little converged than t_k time ,but it still has some particles converged in robot footprint and in map free areas, there also appears some particles.let mark this time is t_k+1time. This is t_k+1.jpg. when t_k+2time ,robot pose in map jumped very much. It jumped in some should not be place, and the amcl output particle_cloud are all converged in robot footprint, it is weird!!!,This is t_k+2.jpg.
• when i rosbag record all the topics and rosbag play them , rqt_plot the robot_pose_ekf pose data(i write a node to get robot pose in odom ) and amcl output pose data to watch whether it because robot_pose_ekf data occured . But when i see rivz and rqt_plot,when amcl position jumped ,robot_pose_ekf position data did not jump. I guess this is not odom, imu and robot_pose_ekf' s problem. This is amcl_jumped_data_analysis.png,ans its zoomed out png1,zoomed out png2
• This is amcl_jump_video.mp4 , amcl_jump.bag , package:to convert_orientation2Yaw_And_get_pose_ekf_position and default.rviz config file
• when i let amcl node logger level is Debug, i see some print useful information such as "Time jumped forward by [0.364688] for timer of period [0.010000], resetting timer (current=946684907.876552),next _expected=946684907.511864"Dubug infos: Time jumped forward.jpg
• Does amcl jumped because this message ?? how can i fixed this problem??
• Any advice will be appreciated and thanks you very very much!!!!

I use sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/lsb_release -csmain" &g

Hello, my system info: x86_64, Ubuntu 16.04.6, kernel 4.15.0-54-generic, gcc5.4.0, g++5.4.0, autoware-1.11.1.

Installed flycapture2-2.13.3.31-amd64-pkg_xenial, LaydbugSDK_1.16.3.48_amd64 and spinnaker-1.21.0.61-amd64-Ubuntu16.04, then reboot to build autoware. when building with AUTOWARE_COMPILE_WITH_CUDA=1 ./colcon_release, output:

/usr/lib/gcc/x86_64-linux-gnu/5/../../../../lib/libflycapture.so： undefined reference to  ‘powf@GLIBC_2.27’
collect2: error: ld returned 1 exit status
make[2]: *** [devel/lib/autoware_pointgrey_drivers/grasshopper3_camera] Error 1
make[1]: *** [CMakeFiles/grasshopper3_camera.dir/all] Error 2
make[1]: *** Waiting for unfinished tasks....
/usr/lib/gcc/x86_64-linux-gnu/5/../../../../lib/libladybug.so： undefined reference to ‘FlyCapture2::AVIRecorder::AVIRecorder()’
/usr/lib/gcc/x86_64-linux-gnu/5/../../../../lib/libflycapture.so： undefined reference to ‘powf@GLIBC_2.27’
collect2: error: ld returned 1 exit status
make[2]: *** [devel/lib/autoware_pointgrey_drivers/ladybug_camera] Error 1
make[1]: *** [CMakeFiles/ladybug_camera.dir/all] Error 2
make: *** [all] Error 2
 ---
Failed   <<< autoware_pointgrey_drivers [ Exited with code 2 ]

In Autoware/ros/src/sensing/drivers/camera/packages/pointgrey, the README file doesn't specify the three matched SDK(flycapture, ladybug, spinnaker) version. How to fix this this problem? Did i missing something, thanks for your help!

rosrun my_package node_executable __name:=my_node1 set a user namespace

rosrun my_package node_executable __name:=my_node1 set a user namespace