champ bringup.launch imu/data rostopic not showing any messages
dlee640 opened this issue · comments
Hello.
When I launch champ bringup,
dlee640@dlee640-T580:~$ roslaunch champ_config bringup.launch rviz:=true
... logging to /home/dlee640/.ros/log/2feaeaac-7dcf-11eb-a764-b46bfc2dbb2b/roslaunch-dlee640-T580-23563.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://dlee640-T580:36939/
SUMMARY
========
PARAMETERS
* /base_to_footprint_ekf/base_link_frame: base_link
* /base_to_footprint_ekf/frequency: 50
* /base_to_footprint_ekf/imu0: imu/data
* /base_to_footprint_ekf/imu0_config: [False, False, Fa...
* /base_to_footprint_ekf/odom_frame: base_footprint
* /base_to_footprint_ekf/pose0: base_to_footprint...
* /base_to_footprint_ekf/pose0_config: [True, True, True...
* /base_to_footprint_ekf/transform_time_offset: 0.045
* /base_to_footprint_ekf/transform_timeout: 0.01
* /base_to_footprint_ekf/two_d_mode: False
* /base_to_footprint_ekf/world_frame: base_footprint
* /champ_controller/gazebo: False
* /champ_controller/joint_controller_topic: joint_group_posit...
* /champ_controller/publish_foot_contacts: True
* /champ_controller/publish_joint_control: True
* /champ_controller/publish_joint_states: True
* /footprint_to_odom_ekf/base_link_frame: base_footprint
* /footprint_to_odom_ekf/frequency: 50
* /footprint_to_odom_ekf/imu0: imu/data
* /footprint_to_odom_ekf/imu0_config: [False, False, Fa...
* /footprint_to_odom_ekf/odom0: odom/raw
* /footprint_to_odom_ekf/odom0_config: [False, False, Fa...
* /footprint_to_odom_ekf/odom_frame: odom
* /footprint_to_odom_ekf/transform_timeout: 0.01
* /footprint_to_odom_ekf/two_d_mode: True
* /footprint_to_odom_ekf/world_frame: odom
* /gait/com_x_translation: 0.0
* /gait/knee_orientation: >>
* /gait/max_angular_velocity_z: 1.0
* /gait/max_linear_velocity_x: 0.5
* /gait/max_linear_velocity_y: 0.25
* /gait/nominal_height: 0.2
* /gait/odom_scaler: 0.9
* /gait/pantograph_leg: False
* /gait/stance_depth: 0.0
* /gait/stance_duration: 0.25
* /gait/swing_height: 0.04
* /joints_map/left_front: ['lf_hip_joint', ...
* /joints_map/left_hind: ['lh_hip_joint', ...
* /joints_map/right_front: ['rf_hip_joint', ...
* /joints_map/right_hind: ['rh_hip_joint', ...
* /links_map/base: base_link
* /links_map/left_front: ['lf_hip_link', '...
* /links_map/left_hind: ['lh_hip_link', '...
* /links_map/right_front: ['rf_hip_link', '...
* /links_map/right_hind: ['rh_hip_link', '...
* /robot_description: <?xml version="1....
* /robot_state_publisher/ignore_timestamp: True
* /robot_state_publisher/publish_frequency: 200
* /robot_state_publisher/use_tf_static: False
* /rosdistro: melodic
* /rosversion: 1.14.10
* /state_estimator/close_loop_odom: False
* /tf_prefix: /
* /velocity_smoother/accel_lim_v: 1.0
* /velocity_smoother/accel_lim_w: 2.0
* /velocity_smoother/decel_factor: 1.0
* /velocity_smoother/frequency: 10.0
* /velocity_smoother/robot_feedback: 2
* /velocity_smoother/speed_lim_v_x: 0.5
* /velocity_smoother/speed_lim_v_y: 0.35
* /velocity_smoother/speed_lim_w: 0.4
NODES
/
base_to_footprint_ekf (robot_localization/ekf_localization_node)
champ_controller (champ_base/quadruped_controller_node)
footprint_to_odom_ekf (robot_localization/ekf_localization_node)
nodelet_manager (nodelet/nodelet)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
state_estimator (champ_base/state_estimation_node)
velocity_smoother (nodelet/nodelet)
auto-starting new master
process[master]: started with pid [23665]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 2feaeaac-7dcf-11eb-a764-b46bfc2dbb2b
process[rosout-1]: started with pid [23676]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [23683]
process[nodelet_manager-3]: started with pid [23684]
process[velocity_smoother-4]: started with pid [23685]
process[champ_controller-5]: started with pid [23691]
process[state_estimator-6]: started with pid [23698]
process[base_to_footprint_ekf-7]: started with pid [23699]
process[footprint_to_odom_ekf-8]: started with pid [23705]
process[rviz-9]: started with pid [23718]
[ INFO] [1614961439.086236643]: Successfully parsed urdf file
[ INFO] [1614961439.095383893]: Successfully parsed urdf file
**[ WARN] [1614961439.170921801]: Warning: Some linear velocity entries in parameter imu0_config are listed true, but an sensor_msgs/Imu contains no information about linear velocities
[ WARN] [1614961439.175079859]: Warning: imu/data is listed as an input topic, but all its update variables are false**
[ INFO] [1614961439.196014083]: rviz version 1.13.15
[ INFO] [1614961439.196089498]: compiled against Qt version 5.9.5
[ INFO] [1614961439.196106039]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1614961439.202383253]: Forcing OpenGl version 0.
[ INFO] [1614961439.747785297]: Stereo is NOT SUPPORTED
[ INFO] [1614961439.747863805]: OpenGl version: 3.0 (GLSL 1.3).
I get those warnings above about how imu/data's updated variables are false, which I think explains why I am not getting any data for my /imu/data topic.
So, I took a loot at yaml files within /src/champ/champ_base/config/ekf folder where some configurations are defined.
First, what does the topic /base_to_footprint_pose mean? Does it mean robot base's location? I am kind of confused on the terminology and would appreciate your explanation!
Also, I feel like there is a small bug in the config setting for imu0_config.
The imu0_config in base_to_footprint.yaml specifies:
frequency: 50
transform_timeout: 0.01
transform_time_offset: 0.045
two_d_mode: false
# diagnostics_agg: true
#x , y , z,
#roll , pitch , yaw,
#vx , vy , vz,
#vroll , vpitch, vyaw,
#ax , ay , az
...
imu0: imu/data
imu0_config: [false, false, false,
false, false, false,
true, true, true,
false, false, false,
false, false, false]
The imu0_config in footprint_to_odom.yaml specifies:
frequency: 50
transform_timeout: 0.01
# transform_time_offset: 0.05
two_d_mode: true
# diagnostics_agg: true
#x , y , z,
#roll , pitch , yaw,
#vx , vy , vz,
#vroll , vpitch, vyaw,
#ax , ay , az
...
imu0: imu/data
imu0_config: [false, false, false,
false, false, true,
false, false, false,
false, false, true,
false, false, false]
I'd really appreciate you taking a look at this small bug and providing me with some explanation about how these boolean variables are set and why they mean.! Thanks again for providing us with great resource.
Hi the reason that those warnings are showing is because when you’re walking the robot without the physical robot/Gazebo (solely in RVIZ), there’s no IMU data sent to the Kalman Filter.
For the config matrices, imu0_config have different boolean values because each filter lies on different frames and uses fuses different velocity values from the IMU. You can find out more here: http://docs.ros.org/en/melodic/api/robot_localization/html/configuring_robot_localization.html
Isn't the problem in the fact that base_to_footprint specifies linear velocities from IMU, which are not a part of the message? There are only linear accelerations and angular velocities there...