Message Filter dropping message

[cblesing]

Hello,

we are trying to get the slam toolbox running in combination with ros2 (eloquent). Unfortunately we receive an Info message and we have no clue whats going wrong. The message is:

ros2 launch slam_toolbox online_sync_launch.py 
[INFO] [launch]: All log files can be found below /home/admin/.ros/log /2020-02-21-12-32-13-316458-CTV10-29494
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [slam_toolbox-1]: process started with pid [29505]
[slam_toolbox-1] [INFO] [ctv_10.slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[slam_toolbox-1] [INFO] [ctv_10.slam_toolbox]: Message Filter dropping message: frame 'ctv_10/laser_front_link' at time 1582284733.680 for reason 'Unknown'
[slam_toolbox-1] [INFO] [ctv_10.slam_toolbox]: Message Filter dropping message: frame 'ctv_10/laser_front_link' at time 1582284733.730 for reason 'Unknown'`

Our setup: First of all, our robot is running in a namespace called "/ctv_xx/. We have several ros1 nodes that are not ported to ros2 at the moment. They are responsible for publishing laserscans and odometry sensor information. Therefore we're using the ros1_bridge. The bridge works fine. Here's the bridge output:

ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
created 1to2 bridge for topic '/ctv_10/back_scan' with ROS 1 type 'sensor_msgs/LaserScan' and ROS 2 type 'sensor_msgs/msg/LaserScan'
created 1to2 bridge for topic '/ctv_10/front_scan' with ROS 1 type 'sensor_msgs/LaserScan' and ROS 2 type 'sensor_msgs/msg/LaserScan'
created 1to2 bridge for topic '/ctv_10/map' with ROS 1 type 'nav_msgs/OccupancyGrid' and ROS 2 type 'nav_msgs/msg/OccupancyGrid'
created 1to2 bridge for topic '/ctv_10/odom' with ROS 1 type 'nav_msgs/Odometry' and ROS 2 type 'nav_msgs/msg/Odometry'
created 1to2 bridge for topic '/ctv_10/slam_toolbox/karto_graph_visualization' with ROS 1 type 'visualization_msgs/MarkerArray' and ROS 2 type 'visualization_msgs/msg/MarkerArray'
created 1to2 bridge for topic '/ctv_10/slam_toolbox/karto_scan_visualization' with ROS 1 type 'sensor_msgs/LaserScan' and ROS 2 type 'sensor_msgs/msg/LaserScan'
created 1to2 bridge for topic '/ctv_10/slam_toolbox/update' with ROS 1 type 'visualization_msgs/InteractiveMarkerUpdate' and ROS 2 type 'visualization_msgs/msg/InteractiveMarkerUpdate'
created 1to2 bridge for topic '/ctv_10/slam_toolbox/update_full' with ROS 1 type 'visualization_msgs/InteractiveMarkerInit' and ROS 2 type 'visualization_msgs/msg/InteractiveMarkerInit'
created 1to2 bridge for topic '/map_metadata' with ROS 1 type 'nav_msgs/MapMetaData' and ROS 2 type 'nav_msgs/msg/MapMetaData'
created 1to2 bridge for topic '/rosout' with ROS 1 type 'rosgraph_msgs/Log' and ROS 2 type 'rcl_interfaces/msg/Log'
created 1to2 bridge for topic '/rosout_agg' with ROS 1 type 'rosgraph_msgs/Log' and ROS 2 type 'rcl_interfaces/msg/Log'
created 1to2 bridge for topic '/tf' with ROS 1 type 'tf2_msgs/TFMessage' and ROS 2 type 'tf2_msgs/msg/TFMessage'
created 1to2 bridge for topic '/tf_static' with ROS 1 type 'tf2_msgs/TFMessage' and ROS 2 type 'tf2_msgs/msg/TFMessage'
Created 2 to 1 bridge for service /ctv_10/slam_toolbox/dynamic_map
[INFO] [ros_bridge]: Passing message from ROS 1 sensor_msgs/LaserScan to ROS 2 sensor_msgs/msg/LaserScan (showing msg only once per type)
[INFO] [ros_bridge]: Passing message from ROS 1 rosgraph_msgs/Log to ROS 2 rcl_interfaces/msg/Log (showing msg only once per type)
[INFO] [ros_bridge]: Passing message from ROS 1 nav_msgs/Odometry to ROS 2 nav_msgs/msg/Odometry (showing msg only once per type)
[INFO] [ros_bridge]: Passing message from ROS 1 visualization_msgs/InteractiveMarkerInit to ROS 2 visualization_msgs/msg/InteractiveMarkerInit (showing msg only once per type)
[INFO] [ros_bridge]: Passing message from ROS 1 tf2_msgs/TFMessage to ROS 2 tf2_msgs/msg/TFMessage (showing msg only once per type)
[INFO] [ros_bridge]: Passing message from ROS 1 visualization_msgs/InteractiveMarkerUpdate to ROS 2 visualization_msgs/msg/InteractiveMarkerUpdate (showing msg only once per type)
created 2to1 bridge for topic '/rosout' with ROS 2 type 'rcl_interfaces/msg/Log' and ROS 1 type 'rosgraph_msgs/Log'
created 2to1 bridge for topic '/rosout' with ROS 2 type 'rcl_interfaces/msg/Log' and ROS 1 type 'rosgraph_msgs/Log'
created 2to1 bridge for topic '/ctv_10/graph_visualization' with ROS 2 type 'visualization_msgs/msg/MarkerArray' and ROS 1 type 'visualization_msgs/MarkerArray'
created 2to1 bridge for topic '/ctv_10/map' with ROS 2 type 'nav_msgs/msg/OccupancyGrid' and ROS 1 type 'nav_msgs/OccupancyGrid'
created 2to1 bridge for topic '/ctv_10/rosout' with ROS 2 type 'rcl_interfaces/msg/Log' and ROS 1 type 'rosgraph_msgs/Log'
created 2to1 bridge for topic '/map_metadata' with ROS 2 type 'nav_msgs/msg/MapMetaData' and ROS 1 type 'nav_msgs/MapMetaData'
created 2to1 bridge for topic '/tf' with ROS 2 type 'tf2_msgs/msg/TFMessage' and ROS 1 type 'tf2_msgs/TFMessage'
Created 1 to 2 bridge for service /ctv_10/dynamic_map
[INFO] [ros_bridge]: Passing message from ROS 2 tf2_msgs/msg/TFMessage to ROS 1 tf2_msgs/TFMessage (showing msg only once per type)
[INFO] [ros_bridge]: Passing message from ROS 2 rcl_interfaces/msg/Log to ROS 1 rosgraph_msgs/Log (showing msg only once per type)

All listed topics are available under ros2. Data on each topic is received. We just don't understand why the slam toolbox gives us that above mentioned INFO message.

Here are the configuration files:

slam_toolbox:
  ros__parameters:

    # Plugin params
    solver_plugin: solver_plugins::CeresSolver
    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
    ceres_preconditioner: SCHUR_JACOBI
    ceres_trust_strategy: LEVENBERG_MARQUARDT
    ceres_dogleg_type: TRADITIONAL_DOGLEG
    ceres_loss_function: None

    # ROS Parameters
    odom_frame: ctv_10/odom
    map_frame: ctv_10/map
    base_frame: ctv_10/base_link
    scan_topic: /ctv_10/back_scan
    mode: mapping #localization

    # if you'd like to immediately start continuing a map at a given pose
    # or at the dock, but they are mutually exclusive, if pose is given
    # will use pose
    #map_file_name: test_steve
    #map_start_pose: [0.0, 0.0, 0.0]
    #map_start_at_dock: true

    debug_logging: true
    throttle_scans: 1
    transform_publish_period: 0.02 #if 0 never publishes odometry
    map_update_interval: 5.0
    resolution: 0.05
    max_laser_range: 20.0 #for rastering images
    minimum_time_interval: 0.5
    transform_timeout: 0.2
    tf_buffer_duration: 30.
    stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
    enable_interactive_mode: true

    # General Parameters
    use_scan_matching: true
    use_scan_barycenter: true
    minimum_travel_distance: 0.5
    minimum_travel_heading: 0.5
    scan_buffer_size: 10
    scan_buffer_maximum_scan_distance: 10.0
    link_match_minimum_response_fine: 0.1  
    link_scan_maximum_distance: 1.5
    loop_search_maximum_distance: 3.0
    do_loop_closing: true 
    loop_match_minimum_chain_size: 10           
    loop_match_maximum_variance_coarse: 3.0  
    loop_match_minimum_response_coarse: 0.35    
    loop_match_minimum_response_fine: 0.45

    # Correlation Parameters - Correlation Parameters
    correlation_search_space_dimension: 0.5
    correlation_search_space_resolution: 0.01
    correlation_search_space_smear_deviation: 0.1 

    # Correlation Parameters - Loop Closure Parameters
    loop_search_space_dimension: 8.0
    loop_search_space_resolution: 0.05
    loop_search_space_smear_deviation: 0.03

    # Scan Matcher Parameters
    distance_variance_penalty: 0.5      
    angle_variance_penalty: 1.0    

    fine_search_angle_offset: 0.00349     
    coarse_search_angle_offset: 0.349   
    coarse_angle_resolution: 0.0349        
    minimum_angle_penalty: 0.9
    minimum_distance_penalty: 0.5
    use_response_expansion: true

Does anyone has an idea?

[SteveMacenski]

Hi,

This is a ROS2/message filter-TF warning, not something from slam toolbox. I think your best bet is filing a question on ros answers. It may relate to the bridge, it may not, but I can say I don’t use it and I haven’t seen this before in this project. I would not assume the bridge is doing what you think it is. Its mostly meant as a migration tool and not something to be relied on in production, to my understanding.

I have seen it before in Navigation2 from TF due to startup networking traffic but stops immediately after all the piping is setup. Its an irritating message but if its just on startup, its not going to come back after startup.

[rakeshshrestha31]

Hi,

I was also getting a continuous stream of these messages, not just during startup. I found this PR: ros-navigation/navigation2#1574 from @SteveMacenski which solved this problem for navigation2 package which I thought also applied here. After making the corresponding changes the messages aren't there anymore. My PR: #391