Carter wheel clearance is changed from original on the Rviz -- Tutorial 5_Navigation_ROS2

[Manyan3]

Hi When I could use Carter navigation which is reference No.5.
But After clear and re-build new package Carter doesn’t work any more.

created turtlebot 3 is working well.
So, I believe my installation is no problem.

[Issues]

1. No tf data. Actual error: Frame [map] does not exist
2. Robot Model status error
   Topic OK
   URDF parsed OK
   No transform from [base_link] to [com_offset]
   No transform from [chassis_link] to [com_offset]
   No transform from [imu] to [com_offset]
   No transform from [left_wheel_link] to [com_offset]
   No transform from [rear_pivot_link] to [com_offset]
   No transform from [rear_wheel_link] to [com_offset]
   No transform from [right_wheel_link] to [com_offset]

3.Map is visible on the Rviz. But… error is detected.
No map received

4. loading carter.urdf file from install folder, but its appearance is curious.
   I don’t change any parameter in the carter.urdf and obj files.

Should I change urdf file or other setting?
I’m awaiting for advices.

[Manyan3]

I am not sure whether modify the urdf parameter or not.
but appearance is able to adjust as picture.

Very curious, in my first time try, such a issue was occurred.

I tried to import 2 urdf files at the same time in the IsaacSIM world.

above is modified. bottom is original.
Original urdf figure is not occurred wheel position issue.

So wheel position is not problem to navigate Carter???

[Manyan3]

I referred to below question

Unable to run ROS2 navigation sample

Update: I tried this sample on Ubuntu 20.04.3 LTS exactly as given in the documentation. It still does not work. Please help! The error is same as the one before: [planner_server-6] [INFO] [1634800003.028694212] [global_costmap.global_costmap]: Timed out waiting for transform from base_link to map to become available, tf error: Invalid frame ID “map” passed to canTransform argument target_frame - frame does not exist [controller_server-5] Warning: Invalid frame ID “map” passed to canTransform…

But .I can find services by ros2 service list. But command line is failed.

ros2 service call /map_server/load_map nav2_msgs/srv/LoadMap “{map_url: carter_warehouse_navigation.yaml}”
usage: ros2 [-h] Call ros2 <command> -h for more detailed usage. …
ros2: error: unrecognized arguments: carter_warehouse_navigation.yaml}”

2022-11-20 09:36:47 [202,339ms] [Warning] [carb] Acquiring non optional plugin interface which is not listed as dependency: [omni::isaac::core_nodes v1.0] (plugin: (null)), by client: omni.isaac.core_nodes. Add it to CARB_PLUGIN_IMPL_DEPS() macro of a client.
[WARN] [1668937029.259971368] [rclcpp]: logging was initialized more than once
[WARN] [1668937051.243900585] [rclcpp]: logging was initialized more than once

After execute command other terminal status is changed.

ros2 run tf2_ros static_transform_publisher 1 2 3 0.5 0.1 -1.0 map world5

[Manyan3]

The urdf file adjusted for Rviz2, which is imported into Isaac SIM, figure is different from original.

um very curious. I have no idea to resolve this case now.

[Manyan3]

If using gazebo/Rviz, tf tree is created well.

Regarding the IsaacSIM, no tf tree is created. but I cannot reach resolution yet.

[Manyan3]

finally Carter is set correct location on the map.

In the Rviz2 screen tf data issue was resolved.
But in the terminal many frame ID cannot receive. that’s why I need to check more.

[Manyan3]

Just now I can move carter in the Rviz.
But still in the IsaacSIM Carter is stopped.
Guess, some joint or component is connected incorrectly

manually set up is very inconvenience… but it’s my best now.

[Manyan3]

advise from Qwan

ROS2 Carter does not work --Tutorial ROS2 chapter 5

are you receiving any ros2 topics outside sim at all? If not, see if this applies to you: ROS2 Foxy communication issues · Issue #3000 · eProsima/Fast-DDS · GitHub

original thread has already merged to here.

After I tried more manual setting

Blockquote
ros2 run tf2_tools view_frames.py
[INFO] [1669792784.258129290] [view_frames]: Listening to tf data during 5 seconds…
[INFO] [1669792789.278328871] [view_frames]: Generating graph in frames.pdf file…
[INFO] [1669792789.280777427] [view_frames]: Result:tf2_msgs.srv.FrameGraph_Response(frame_yaml=“odom: \n parent: ‘map’\n broadcaster: ‘default_authority’\n rate: 10000.000\n most_recent_transform: 0.000000\n oldest_transform: 0.000000\n buffer_length: 0.000\nrear_wheel: \n parent: ‘rear_pivot_link’\n broadcaster: ‘default_authority’\n rate: 10000.000\n most_recent_transform: 0.000000\n oldest_transform: 0.000000\n buffer_length: 0.000\nrear_pivot_link: \n parent: ‘chassis_link’\n broadcaster: ‘default_authority’\n rate: 10000.000\n most_recent_transform: 0.000000\n oldest_transform: 0.000000\n buffer_length: 0.000\nleft_wheel: \n parent: ‘chassis_link’\n broadcaster: ‘default_authority’\n rate: 10000.000\n most_recent_transform: 0.000000\n oldest_transform: 0.000000\n buffer_length: 0.000\nchassis_link: \n parent: ‘base_link’\n broadcaster: ‘default_authority’\n rate: 10000.000\n most_recent_transform: 0.000000\n oldest_transform: 0.000000\n buffer_length: 0.000\ncom_offset: \n parent: ‘chassis_link’\n broadcaster: ‘default_authority’\n rate: 10000.000\n most_recent_transform: 0.000000\n oldest_transform: 0.000000\n buffer_length: 0.000\nbase_link: \n parent: ‘odom’\n broadcaster: ‘default_authority’\n rate: 10000.000\n most_recent_transform: 0.000000\n oldest_transform: 0.000000\n buffer_length: 0.000\nimu: \n parent: ‘chassis_link’\n broadcaster: ‘default_authority’\n rate: 10000.000\n most_recent_transform: 0.000000\n oldest_transform: 0.000000\n buffer_length: 0.000\nright_wheel: \n parent: ‘chassis_link’\n broadcaster: ‘default_authority’\n rate: 10000.000\n most_recent_transform: 0.000000\n oldest_transform: 0.000000\n buffer_length: 0.000\n”)

But Carter doesn’t work.

Blockquote
[rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID “right_wheel_link” passed to canTransform argument source_frame - frame does not exist
[rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID “left_wheel_link” passed to canTransform argument source_frame - frame does not exist
[rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID “rear_wheel_link” passed to canTransform argument source_frame - frame does not exist
[rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID “right_wheel_link” passed to canTransform argument source_frame - frame does not exist
[rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID “left_wheel_link” passed to canTransform argument source_frame - frame does not exist
[rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID “rear_wheel_link” passed to canTransform argument source_frame - frame does not exist
[rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID “right_wheel_link” passed to canTransform argument source_frame - frame does not exist
[rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID “left_wheel_link” passed to canTransform argument source_frame - frame does not exist
[rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID “rear_wheel_link” passed to canTransform argument source_frame - frame does not exist
[rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID “right_wheel_link” passed to canTransform argument source_frame - frame does not exist
[rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID “left_wheel_link” passed to canTransform argument source_frame - frame does not exist
[rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID “rear_wheel_link” passed to canTransform argument source_frame - frame does not exist
[rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID “right_wheel_link” passed to canTransform argument source_frame - frame does not exist
[rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rviz2-1] Warning: Invalid frame ID “left_wheel_link” passed to canTransform argument source_frame - frame does not exist

[Manyan3]

Still struggling this failure.
Combination of Gazebo/Rviz/ROS2 is no problem.
Create normal TF tree.

But Using Isaac ROS2 bridge is not good result for me.

It is result of ROS2 BRIDGE extension test

Blockquote
| 2022-12-06 05:02:44 [7,695ms] [Warning] [carb.assets.plugin] Asset 0x10000003c (/tmp/carb.UMAbeZ/paint_dark.56x56.png) still referenced at shutdown
|| 2022-12-06 05:02:44 [7,695ms] [Warning] [carb.assets.plugin] Pool 0x100000000 (RTX ResourceManager) still referenced at shutdown
|| 2022-12-06 05:02:44 [7,695ms] [Warning] [carb.assets.plugin] Pool 0x100000001 (omni::kit::renderer::IRenderer) still referenced at shutdown
|| 2022-12-06 05:02:44 [7,695ms] [Warning] [carb.assets.plugin] Pool 0x100000002 (Sound Assets) still referenced at shutdown
|| 2022-12-06 05:02:44 [7,695ms] [Warning] [carb.assets.plugin] Pool 0x100000003 (omni.ui ImageProviders) still referenced at shutdown
|| 2022-12-06 05:02:44 [7,695ms] [Warning] [carb.assets.plugin] carb.assets: 1 asset type(s) still registered at shutdown
|| 2022-12-06 05:02:44 [7,695ms] [Warning] [carb.assets.plugin] Asset type 13917101705266846497 v0.1 still registered at shutdown
[fail] Extension test failed.
Blockquote
[fail] Extension Test failed. Details:
Cmd: /home/kanengi/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/kit /home/kanengi/.local/share/ov/pkg/isaac_sim-2022.1.1/apps/omni.isaac.sim.kit --enable omni.isaac.ros2_bridge-1.5.0 --/log/flushStandardStreamOutput=1 --/app/name=exttest_omni_isaac_ros2_bridge_app-omni_isaac_sim-2022_1_1 --/log/file=‘/home/kanengi/.local/share/ov/data/_testoutput/exttest_omni_isaac_ros2_bridge_app-omni_isaac_sim-2022_1_1/exttest_omni_isaac_ros2_bridge_app-omni_isaac_sim-2022_1_1_2022-12-06T14-02-36.log’ --/exts/omni.kit.test/testOutputPath=‘/home/kanengi/.local/share/ov/data/_testoutput/exttest_omni_isaac_ros2_bridge_app-omni_isaac_sim-2022_1_1’ --/exts/omni.kit.test/extTestId=‘omni.isaac.ros2_bridge_app:omni.isaac.sim-2022.1.1’ --/crashreporter/dumpDir=‘/home/kanengi/.local/share/ov/data/_testoutput/exttest_omni_isaac_ros2_bridge_app-omni_isaac_sim-2022_1_1’ --/crashreporter/preserveDump=1 --ext-folder /home/kanengi/.local/share/ov/pkg/isaac_sim-2022.1.1/kit/extsPhysics --ext-folder /home/kanengi/.local/share/ov/pkg/isaac_sim-2022.1.1/exts --ext-folder /home/kanengi/.local/share/ov/pkg/isaac_sim-2022.1.1/apps --/app/quitAfter=10 --/exts/omni.kit.test/pyCoverageEnabled=False --/exts/omni.kit.test/runTestsFilter=‘’ --enable omni.graph.ui --enable omni.isaac.wheeled_robots
Return code: -11
Failure reasons:
Matched fail patterns in stdout: ‘[’[[]error]‘]’, Line: ‘2022-12-06 05:02:43 [6,496ms] [Error] [omni.isaac.ros2_bridge.scripts.extension] ROS 2 Bridge extension cannot be enabled if ROS Bridge is enabled’
Process return code: -11 != 0.

Blockquote
|||||||||||||||||||||||||||||| [EXTENSION TEST FAILED: omni.isaac.ros2_bridge_app:omni.isaac.sim-2022.1.1] ||||||||||||||||||||||||||||||

Blockquote
============================================================
Extension Tests Run Summary (Date: 2022-12-06T14-02-36)
============================================================
app: omni.isaac.sim-2022.1.1
============================================================
[ fail ] [ 8.9s] omni.isaac.ros2_bridge_app:omni.isaac.sim-2022.1.1 (Count: 0)
============================================================
============================================================
[ERROR] 1 tests processes failed out of 1.

[Manyan3]

https://forums.developer.nvidia.com/t/no-tf-data-received-from-isaac-sim-ros2-connection/236001/7

resolved this issue in above topic.