ROS2学习遇到的问题1---TF_OLD_DATA

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已于 2022-12-02 15:22:10 修改

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分类专栏： ROS 文章标签：学习机器人自动驾驶

于 2022-12-02 14:29:10 首次发布

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ROS2学习遇到的问题1—TF_OLD_DATA

以下只是想记录一下自己学习ROS过程中的问题

问题1
我使用的是humble版本的ROS2，配置是双系统UBUNTU22.04，在进行NAVIGATION2学习时进行第一步设置机器人时，运行lunch文件：

ros2 launch sam_bot_description display.launch.py

会报出以下警告：

[ekf_node-5] Warning: TF_OLD_DATA ignoring data from the past for frame drivewhl_r_link at time 40.052000 according to authority Authority undetectable
[ekf_node-5] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[ekf_node-5]          at line 292 in ./src/buffer_core.cpp
[ekf_node-5] Warning: TF_OLD_DATA ignoring data from the past for frame drivewhl_l_link at time 40.052000 according to authority Authority undetectable
[ekf_node-5] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[ekf_node-5]          at line 292 in ./src/buffer_core.cpp
[rviz2-6] Warning: TF_OLD_DATA ignoring data from the past for frame drivewhl_l_link at time 40.052000 according to authority Authority undetectable
[rviz2-6] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[rviz2-6]          at line 292 in ./src/buffer_core.cpp
[rviz2-6] Warning: TF_OLD_DATA ignoring data from the past for frame drivewhl_r_link at time 40.062000 according to authority Authority undetectable
[rviz2-6] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[rviz2-6]          at line 292 in ./src/buffer_core.cpp
[rviz2-6] Warning: TF_OLD_DATA ignoring data from the past for frame drivewhl_l_link at time 40.062000 according to authority Authority undetectable
[rviz2-6] Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[rviz2-6]          at line 292 in ./src/buffer_core.cpp

解决方法如下：
在差速轮的设置中按照如下配置：

<gazebo>
    <plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
      <ros>
        <namespace>/demo</namespace>
      </ros>
  
      <!-- wheels -->
      <left_joint>drivewhl_l_joint</left_joint>
      <right_joint>drivewhl_r_joint</right_joint>
  
      <!-- kinematics -->
      <wheel_separation>0.4</wheel_separation>
      <wheel_diameter>0.2</wheel_diameter>
  
      <!-- limits -->
      <max_wheel_torque>20</max_wheel_torque>
      <max_wheel_acceleration>1.0</max_wheel_acceleration>
  
      <!-- output -->
      <publish_odom>true</publish_odom>
      <publish_odom_tf>true</publish_odom_tf>
      <publish_wheel_tf>false</publish_wheel_tf>
  
      <odometry_frame>odom</odometry_frame>
      <robot_base_frame>base_link</robot_base_frame>
    </plugin>
  </gazebo>

其中最重要的下面参数的设置：

	<publish_odom>true</publish_odom>
      <publish_odom_tf>true</publish_odom_tf>
      <publish_wheel_tf>false</publish_wheel_tf>

然后保证：

robot_localization_node = launch_ros.actions.Node(
       package='robot_localization',
       executable='ekf_node',
       name='ekf_filter_node',
       output='screen',
       parameters=[os.path.join(pkg_share, 'config/ekf.yaml'), {'use_sim_time':True}]
    )

将use_sim_time设置为true即可

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