Setting use_sim_time to true does not generate octomap. #2215
Description
Description
I am trying to setup MoveIt2 with a UR5e in Gazebo Fortress. Everything works well apart from the sensors. I have a depth camera that also publishes sensor_msgs/PointCloud2, Since I am running a simulation and the /clock topic is present, I passed use_sim_time:=true to the move group node. In my observation after passing this parameter the octomaps do not get published. If I pass use_sim_time:=false to the move group node the octomaps get published.
Your environment
- ROS Distro: Humble
- OS Version: Ubuntu 22.04
- Source or Binary build? Binary
- Which RMW (Fast DDS or Cyclone DDS)? Cyclone
Steps to reproduce
sensors_3d.yaml:
sensors:
- default_sensor
default_sensor:
filtered_cloud_topic: filtered_cloud
max_range: 8.0
max_update_rate: 1.0
padding_offset: 0.1
padding_scale: 1.0
point_cloud_topic: /depth_camera/points
point_subsample: 1
sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
octomap_frame: camera
octomap_resolution: 0.05
max_range: 8.0move_group.launch.py
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import *
def generate_move_group_launch(moveit_config):
ld = LaunchDescription()
ld.add_action(DeclareBooleanLaunchArg("debug", default_value=False))
ld.add_action(
DeclareBooleanLaunchArg("allow_trajectory_execution", default_value=True)
)
ld.add_action(
DeclareBooleanLaunchArg("publish_monitored_planning_scene", default_value=True)
)
# load non-default MoveGroup capabilities (space separated)
ld.add_action(DeclareLaunchArgument("capabilities", default_value=""))
# inhibit these default MoveGroup capabilities (space separated)
ld.add_action(DeclareLaunchArgument("disable_capabilities", default_value=""))
# do not copy dynamics information from /joint_states to internal robot monitoring
# default to false, because almost nothing in move_group relies on this information
ld.add_action(DeclareBooleanLaunchArg("monitor_dynamics", default_value=False))
should_publish = LaunchConfiguration("publish_monitored_planning_scene")
move_group_configuration = {
"publish_robot_description_semantic": True,
"allow_trajectory_execution": LaunchConfiguration("allow_trajectory_execution"),
# Note: Wrapping the following values is necessary so that the parameter value can be the empty string
"capabilities": ParameterValue(
LaunchConfiguration("capabilities"), value_type=str
),
"disable_capabilities": ParameterValue(
LaunchConfiguration("disable_capabilities"), value_type=str
),
# Publish the planning scene of the physical robot so that rviz plugin can know actual robot
"publish_planning_scene": should_publish,
"publish_geometry_updates": should_publish,
"publish_state_updates": should_publish,
"publish_transforms_updates": should_publish,
"monitor_dynamics": False,
"use_sim_time": True
}
move_group_params = [
moveit_config.to_dict(),
move_group_configuration,
]
add_debuggable_node(
ld,
package="moveit_ros_move_group",
executable="move_group",
commands_file=str(moveit_config.package_path / "launch" / "gdb_settings.gdb"),
output="screen",
parameters=move_group_params,
extra_debug_args=["--debug"],
# Set the display variable, in case OpenGL code is used internally
additional_env={"DISPLAY": ":0"},
)
return ld
def generate_launch_description():
moveit_config = MoveItConfigsBuilder("ur", package_name="ur_moveit").to_moveit_configs()
return generate_move_group_launch(moveit_config)Expected behaviour
This octomap should be produced (Screenshot taken when use_sim_time:=false)
Actual behaviour
There is no octomap being published.