Hello all,
I'm working on a small, multi-robot simulation using Husky robots. I've been using the base [husky_simulator](http://wiki.ros.org/husky_simulator) with some modifications to allow for multiple robots. The way I've accomplished this is through the use of namespaces. I call each "spawn_husky.launch" file in a separate namespace, which sets up all the plugins and publishes unique topics for each robot.
Everything seems to be working fine except for the the topics husky1/odometry/filtered and husky2/odometry/filtered. So I dug through the launch files and found that this topic is published in the control.launch file which uses a "robot_localization" node of the "ekf_localization_node" type.
The tf frame tree of a single robot simulation (without namespaces) looks like this:
But when launched from within the namespace, with multiple robots, looks like this:
I know it's hard to see, but the "odom" frame no longer exists, so this seems the localization is not working properly. My initial guess is that the robot_localization limits the parameters to "map" or "odom" but since I'm using a namespace and tf_prefix, it becomes "husky1/odom" and this is not allowed. But does anyone have any ideas as to how I might be able to correct this or why it might be happening?
Edit 1:
Some additional information, as requested by Tom.
Here are the frame_ids during a single robot simulation with no namespace or tf_prefix
RESULTS: for all Frames
Frames:
Frame: base_footprint published by unknown_publisher Average Delay: -0.000202703 Max Delay: 0
Frame: base_laser published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: base_link published by unknown_publisher Average Delay: -6.75676e-05 Max Delay: 0
Frame: front_bumper_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: front_left_wheel_link published by unknown_publisher Average Delay: 0 Max Delay: 0
Frame: front_right_wheel_link published by unknown_publisher Average Delay: 0 Max Delay: 0
Frame: imu_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: inertial_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: laser_mount_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: rear_bumper_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: rear_left_wheel_link published by unknown_publisher Average Delay: 0 Max Delay: 0
Frame: rear_right_wheel_link published by unknown_publisher Average Delay: 0 Max Delay: 0
Frame: topPlate published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: top_chassis_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: top_plate_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
Frame: user_rail_link published by unknown_publisher Average Delay: -0.000135135 Max Delay: 0
All Broadcasters:
Node: unknown_publisher 150.338 Hz, Average Delay: -6.94586e-05 Max Delay: 0
And here are all the frame_ids shown by tf_monitor when running the multi robot simulation:
RESULTS: for all Frames
Frames:
Frame: husky1/base_footprint published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/base_laser published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/front_bumper_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/front_left_wheel_link published by unknown_publisher Average Delay: 0.0185882 Max Delay: 0.04
Frame: husky1/front_right_wheel_link published by unknown_publisher Average Delay: 0.0185882 Max Delay: 0.04
Frame: husky1/imu_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/inertial_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/laser_mount_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/rear_bumper_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/rear_left_wheel_link published by unknown_publisher Average Delay: 0.0185882 Max Delay: 0.04
Frame: husky1/rear_right_wheel_link published by unknown_publisher Average Delay: 0.0185882 Max Delay: 0.04
Frame: husky1/topPlate published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/top_chassis_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/top_plate_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky1/user_rail_link published by unknown_publisher Average Delay: 0.0182353 Max Delay: 0.04
Frame: husky2/base_footprint published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/base_laser published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/front_bumper_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/front_left_wheel_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/front_right_wheel_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/imu_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/inertial_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/laser_mount_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/rear_bumper_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/rear_left_wheel_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/rear_right_wheel_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/topPlate published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/top_chassis_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/top_plate_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
Frame: husky2/user_rail_link published by unknown_publisher Average Delay: 0.0188824 Max Delay: 0.03
All Broadcasters:
Node: unknown_publisher 200.59 Hz, Average Delay: 0.0186471 Max Delay: 0.04
And this is what my localization.yaml file looks like (it is left the same for both):
map_frame: map
odom_frame: odom
base_link_frame: base_link
world_frame: odom
two_d_mode: true
frequency: 50
odom0: husky_velocity_controller/odom
odom0_config: [false, false, false,
false, false, false,
true, true, true,
false, false, true,
false, false, false]
odom0_differential: false
odom0_queue_size: 10
imu0: imu/data
imu0_config: [false, false, false,
true, true, true,
false, false, false,
true, true, true,
false, false, false]
imu0_differential: true
imu0_queue_size: 10
imu0_remove_gravitational_acceleration: true
print_diagnostics: true
I notice there are no "base_link" frames for the multi-robot version, but I'm not sure what this could mean.
Edit 2:
Here is the output from rqt_map on the working single robot:
And now the output from the multi robot:
So it looks like there are for input topics coming into the localization node for husky1. Here are examples of all:
/tf
transforms:
-
header:
seq: 0
stamp:
secs: 1597
nsecs: 300000000
frame_id: husky1/base_link
child_frame_id: husky1/front_left_wheel_link
transform:
translation:
x: 0.256
y: 0.2854
z: 0.03282
rotation:
x: 0.0
y: 0.144187547375
z: 0.0
w: 0.989550378294
-
header:
seq: 0
stamp:
secs: 1597
nsecs: 300000000
frame_id: husky1/base_link
child_frame_id: husky1/front_right_wheel_link
transform:
translation:
x: 0.256
y: -0.2854
z: 0.03282
rotation:
x: 0.0
y: 0.157750826895
z: 0.0
w: 0.98747894996
-
header:
seq: 0
stamp:
secs: 1597
nsecs: 300000000
frame_id: husky1/base_link
child_frame_id: husky1/rear_left_wheel_link
transform:
translation:
x: -0.256
y: 0.2854
z: 0.03282
rotation:
x: 0.0
y: -0.158428913083
z: 0.0
w: 0.987370386177
-
header:
seq: 0
stamp:
secs: 1597
nsecs: 300000000
frame_id: husky1/base_link
child_frame_id: husky1/rear_right_wheel_link
transform:
translation:
x: -0.256
y: -0.2854
z: 0.03282
rotation:
x: 0.0
y: -0.192699433619
z: 0.0
w: 0.981257829667
/husky1/imu/data
header:
seq: 23902
stamp:
secs: 1776
nsecs: 540000000
frame_id: base_link
orientation:
x: 0.000136499101278
y: 1.42176279272e-05
z: 0.00338303918051
w: 0.999994268089
orientation_covariance: [2.6030820491461885e-07, 0.0, 0.0, 0.0, 2.6030820491461885e-07, 0.0, 0.0, 0.0, 0.0]
angular_velocity:
x: -0.00250481986211
y: 0.000314847644066
z: -0.00384896932272
angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05]
linear_acceleration:
x: -0.00435986520834
y: 0.00647963661132
z: 9.79696593816
linear_acceleration_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05]
---
/husky1/husky_controller_velocity/odom
header:
seq: 29601
stamp:
secs: 1890
nsecs: 960000000
frame_id: odom
child_frame_id: base_link
pose:
pose:
position:
x: 0.00760542738025
y: -3.62838407179e-05
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.000862957133054
w: 0.999999627652
covariance: [0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03]
twist:
twist:
linear:
x: 3.82179164307e-05
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: -1.04046111105e-07
covariance: [0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03]
---
And /tf_static
Which doesn't seem to be publishing anything.
Thanks all!
↧
