rviz2 tf message drop

[ros2]

rviz2 tf message drop

[sloretz]

@llllIIIIllll I believe the issue is resolved by the referenced PRs. Would you mind checking using your setup with the latest code?

[calvertdw]

Have you compared the performance to OpenSplice? (RMW_IMPLEMENTATION=rmw_opensplice_cpp)

Are you using BEST_EFFORT or RELIABLE QoS settings for the tf in rviz2?

Since you are building from source, you might have to rebuild to use OpenSplice, following instructions at https://github.com/ros2/ros2/wiki/Linux-Development-Setup#install-more-dds-implementations-optional

[llllIIIIllll]

I use the default Qos settings in rviz2 RMW_QOS_POLICY_RELIABILITY_RELIABLE, I have tried change it, but the problem still exist.
I also try the opensplice, it has the same problem.

[sloretz]

I can reproduce what looks like a lag in tf frames sent from ros1 to ros 2 when using latest ros2 sources on xenial. I built both ros1_bridge and ros2 using -DCMAKE_BUILD_TYPE=RelWithDebInfo.

Here's a smaller example that doesn't require rotors or gazebo.

Save this file as pub_tf_transforms.py

#!/usr/bin/env python  
import math
import rospy

import tf_conversions
import tf2_ros
import geometry_msgs.msg


def circle_transform(child_frame, radius, angle):
    t = geometry_msgs.msg.TransformStamped()
    t.header.stamp = rospy.Time.now()
    t.header.frame_id = "map"
    t.child_frame_id = child_frame

    t.transform.translation.x = radius * math.sin(angle)
    t.transform.translation.y = radius * math.cos(angle)
    t.transform.translation.z = 0.0
    q = tf_conversions.transformations.quaternion_from_euler(0, 0, angle)
    t.transform.rotation.x = q[0]
    t.transform.rotation.y = q[1]
    t.transform.rotation.z = q[2]
    t.transform.rotation.w = q[3]

    return t


if __name__ == '__main__':
    rospy.init_node('pub_tf_transforms')
    br = tf2_ros.TransformBroadcaster()

    freq = 100.0
    r = rospy.Rate(freq)
    angle = 0.0
    while not rospy.is_shutdown():
        radius = 2.0 * math.sin(2.0 * angle)

        t = circle_transform("base_link", radius, angle)
        br.sendTransform(t)

        angle += 2.0 * math.pi / freq / 5.0
        if angle >= 2.0 * math.pi:
            angle -= 2.0 * math.pi
        r.sleep()

Open a bunch of terminals

Roscore

. /opt/ros/kinetic/setup.bash
roscore

RViz 1

. /opt/ros/kinetic/setup.bash
rviz

Add TF display, and check Show Names

RViz 2

. ros2_ws/install/setup.bash
ros2 run rviz2 rviz2

Add TF display and check Show Names

ROS 1 Bridge

. /opt/ros/kinetic/setup.bash
. ros1_bridge_ws/install/setup.bash
ros2 run ros1_bridge dynamic_bridge

TF publisher

. /opt/ros/kinetic/setup.bash
./pub_tf_transforms.py

It looks like what RViz2 and RViz display is out of sync. Visually it looks like RViz2 is displaying data about 1 second after RViz is. However, the movement of the link frame in both looks smooth to me.

RViz left, RViz2 right

I have a lot of stuff running on the machine but the CPU and RAM usage isn't all that high.

Tasks: 329 total,   1 running, 327 sleeping,   0 stopped,   1 zombie
%Cpu(s):  2.3 us,  0.8 sy,  0.0 ni, 96.9 id,  0.0 wa,  0.0 hi,  0.0 si,  0.0 st
KiB Mem : 32872912 total,  8103708 free,  6789292 used, 17979912 buff/cache
KiB Swap: 16702460 total, 16687400 free,    15060 used. 24509028 avail Mem 

  PID USER      PR  NI    VIRT    RES    SHR S  %CPU %MEM     TIME+ COMMAND     
 6184 sloretz   20   0 2305628 706152  83660 S   8.0  2.1 135:31.67 compiz      
 6454 sloretz   20   0  695044  72472  13184 S   4.3  0.2   0:29.94 python      
24457 sloretz   20   0 1666712 116076  78164 S   4.3  0.4   2:17.53 rviz        
 1211 root      20   0 1396648 909896 340608 S   4.0  2.8 440:46.41 Xorg        
31915 sloretz   20   0 2688032 966724 272868 S   3.7  2.9 114:49.08 Web Content 
31733 sloretz   20   0 3691204 999680 493096 S   2.7  3.0  69:22.07 firefox     
 6378 sloretz   20   0  979296  33392  25756 S   2.3  0.1   0:16.98 dynamic_br+ 
23884 sloretz   20   0  935696 101116  68900 S   2.0  0.3   0:55.71 rviz2       
 6122 sloretz    9 -11  509392  13796  10184 S   0.7  0.0  10:03.47 pulseaudio  
31797 sloretz   20   0 2709896 781004 237460 S   0.7  2.4  18:12.58 Web Content 
32062 sloretz   20   0 2335028 378924 157740 S   0.7  1.2  10:33.94 Web Content 
 5075 root      20   0 1534028  79600  39172 S   0.3  0.2   8:25.50 dockerd     
15582 sloretz   20   0  327320   8356   6960 S   0.3  0.0   0:04.20 sd_espeak   
15870 sloretz   20   0   41932   3816   3144 R   0.3  0.0   0:00.01 top         
20014 sloretz   20   0  534776  53260   7348 S   0.3  0.2   0:06.52 rosmaster   
20027 sloretz   20   0  334088  10176   9284 S   0.3  0.0   0:03.02 rosout      
31956 sloretz   20   0 2427884 595732 187096 S   0.3  1.8 213:15.74 Web Content 
    1 root      20   0  185612   6232   4008 S   0.0  0.0   0:02.75 systemd     
    2 root      20   0       0      0      0 S   0.0  0.0   0:00.02 kthreadd    
    3 root      20   0       0      0      0 S   0.0  0.0   0:02.09 ksoftirqd/0 
    5 root       0 -20       0      0      0 S   0.0  0.0   0:00.00 kworker/0:+ 
    7 root      20   0       0      0      0 S   0.0  0.0   2:19.48 rcu_sched   
    8 root      20   0       0      0      0 S   0.0  0.0   0:00.00 rcu_bh      
    9 root      rt   0       0      0      0 S   0.0  0.0   0:00.20 migration/0 
   10 root      rt   0       0      0      0 S   0.0  0.0   0:00.66 watchdog/0 

[sloretz]

This looks like it is an issue higher level than the bridge, possible tf2 or RViz2.

When I run ros2 topic echo /tf tf2_msgs/TFMessage and rostopic echo /tf in side-by-side terminals the timestamps appear to be the same. If I kill and restart the transform publisher the last transform displayed by each is usually the same message (there is a delay of about 0.5 seconds between starting the ros 1 tf publisher and receiving a message on the ROS 2 side). Further tf2_monitor shows very little delay

$ ros2 run tf2_ros  tf2_monitor 



RESULTS: for all Frames

Frames:
Frame: base_link, published by <no authority available>, Average Delay: 0.00051274, Max Delay: 0.00609875

All Broadcasters:
Node: <no authority available> 100.101 Hz, Average Delay: 0.00051274 Max Delay: 0.00609875

[llllIIIIllll]

I have tried in my project, it works. Thank you!

[Myzhar]

I'm having the same problem... but not only in Rviz.

There is an open question on ROS answer if someone can help me:
https://answers.ros.org/question/303377/ros2-tf2-broadcasting-very-slow/

Thank you