调试工具ROSWTF

调试工具ROSWTF

1.ROSWTF命令行工具

ROSWTF将检查您的ROS设置，例如环境变量，并查找配置问题。如果您在线有ROS系统，它将查看并检查任何潜在的问题。

1.1 检查目标

除了一般检查外，ROSWTF还有两种用法。

1.1.1 检查软件包或堆栈

roswtf

这将检查当前的软件包或堆栈是否有问题。

重要的是：ROSWTF根据您从运行的目录执行这些检查。例如，如果您在导航堆栈中运行它，它将根据导航堆栈及其依赖项中的文件进行文件系统检查。

1.1.2 检查启动文件

roswtf yourfile.launch

在这种情况下，它将检查给定的启动文件是否有任何潜在问题。

2.Roswtf寻找什么？

ROSWTF寻找很多东西，并且清单总是在增长。它要寻找的是两类：文件系统问题和在线/图形问题。
对于文件系统问题，ROSWTF查看您的环境变量，软件包配置，堆栈配置等。它还可以接收一个Roslaunch文件，并尝试在其中找到任何潜在的配置问题，例如尚未正确构建的软件包。
对于在线问题，roswtf 会检查您当前图形的状态并尝试查找任何潜在问题。这些问题可能是节点无响应、节点之间缺少连接或 roslaunch 的潜在机器配置问题。

3.警告与错误

roswtf 根据其执行的检查生成包含警告和错误的报告。一般来说，警告看起来很奇怪，但可能还不错。错误是已知问题，如果您遇到问题，您可能应该解决这些问题。

4.示例

4.1 roscore没有运行的正常情况

在终端输入：roswtf，显示如下

Loaded plugin tf.tfwtf
No package or stack in the current directory
================================================================================
Static checks summary:

No errors or warnings
================================================================================

ROS Master does not appear to be running.
Online graph checks will not be run.
ROS_MASTER_URI is [http://localhost:11311]

在这种情况下，这是可以预期的，因为没有其他东西在运行，因此我们可以忽略它。

4.1 roscore运行的正常情况

在终端输入roscore，然后再在另外一个终端输入roswtf，显示如下

Loaded plugin tf.tfwtf
No package or stack in the current directory
================================================================================
Static checks summary:

No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take a while...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete

Online checks summary:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /rosout:
   * /rosout

WARNING No tf messages

roswtf向您警告rosout节点未订阅和没有tf消息。在这种情况下，这是可以预期的，因为没有其他东西在运行，因此我们可以忽略它。

4.3 在rviz查看tf坐标，看到base_link和base_footprint之间跳来跳去

运用roswtf查看问题，显示如下：

Loaded plugin tf.tfwtf
No package or stack in the current directory
================================================================================
Static checks summary:

No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take a while...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
running tf checks, this will take a second...
... tf checks complete

Online checks summary:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /gazebo:
   * /gazebo/set_link_state
   * /gazebo/set_model_state
 * /tianbot_mini/slam_gmapping:
   * /tianbot_mini/scan
 * /tianbot_mini/rviz:
   * /tianbot_mini/scan
   * /tianbot_mini/move_base/local_costmap/costmap
   * /tianbot_mini/move_base/local_costmap/costmap_updates
   * /tianbot_mini/map_updates
   * /tianbot_mini/move_base/global_costmap/costmap
   * /tianbot_mini/move_base/global_costmap/costmap_updates
   * /tianbot_mini/move_base/NavfnROS/plan
   * /tianbot_mini/move_base/TrajectoryPlannerROS/local_plan
   * /tianbot_mini/move_base/global_costmap/footprint

WARNING These nodes have died:
 * urdf_spawner-6


Found 2 error(s).

ERROR TF re-parenting contention:
 * reparenting of [left_wheel_link] to [chassis] by [/robot_state_publisher]
 * reparenting of [right_wheel_link] to [chassis] by [/robot_state_publisher]
 * reparenting of [right_wheel_link] to [base_link] by [/gazebo]
 * reparenting of [left_wheel_link] to [base_link] by [/gazebo]

ERROR TF multiple authority contention:
 * node [/robot_state_publisher] publishing transform [left_wheel_link] with parent [chassis] already published by node [/gazebo]
 * node [/robot_state_publisher] publishing transform [right_wheel_link] with parent [chassis] already published by node [/gazebo]
 * node [/gazebo] publishing transform [right_wheel_link] with parent [base_link] already published by node [/robot_state_publisher]
 * node [/gazebo] publishing transform [left_wheel_link] with parent [base_link] already published by node [/robot_state_publisher]

报错提示/robot_state_publisher发布了左右轮到chassis的tf变换，但是/gazebo又发布了左右轮到base_link的tf变换，导致了二者的冲突。

解决办法：

在ros answers上找到一个类似的问题：tf tree changes over time - ROS Answers: Open Source Q&A Forum
对比该问题提出者的解决方式，发现是/gazebo发布左右轮到base_footprint的tf配置是在gazebo差速轮机器人控制插件中

将gazebo中的：
<publishWheelTF>true</publishWheelTF>
<publishWheelJointState>true</publishWheelJointState>
改为：
<publishWheelTF>false</publishWheelTF>
<publishWheelJointState>false</publishWheelJointState>

参考文献：

http://wiki.ros.org/roswtf

https://blog.csdn.net/qq_39379746/article/details/105298035

https://blog.csdn.net/weixin_41070687/article/details/125736727