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Multirobot abilities for TB3 restored#11

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SteveMacenski merged 3 commits intomainfrom
multirobot
Jun 21, 2024
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Multirobot abilities for TB3 restored#11
SteveMacenski merged 3 commits intomainfrom
multirobot

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@SteveMacenski SteveMacenski commented Jun 19, 2024 •
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SteveMacenski and others added 3 commits June 11, 2024 17:46
@SteveMacenski
Attempts for multirobot namespacing in GZ
f729a2f
@SteveMacenski
expanding gazebo names
034950d
@azeey
Use xacro file to plumb namespace into gz topics (#10)
9320bce 
* Use xacro file to plumb namespace into gz topics

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

* Fix linter

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

---------

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
@SteveMacenski SteveMacenski mentioned this pull request Jun 20, 2024
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SteveMacenski commented Jun 21, 2024 •
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@azeey I generally see this working now w.r.t. things bringing up, but I see large blocks of things like the following:

[component_container_isolated-14] [WARN] [1718934561.045292030] [tf2_buffer]: Detected jump back in time. Clearing TF buffer.
[component_container_isolated-14] [WARN] [1718934561.045296205] [tf2_buffer]: Detected jump back in time. Clearing TF buffer.
[component_container_isolated-14] [WARN] [1718934561.045462207] [tf2_buffer]: Detected jump back in time. Clearing TF buffer.
[component_container_isolated-14] [WARN] [1718934561.045647386] [tf2_buffer]: Detected jump back in time. Clearing TF buffer.
[component_container_isolated-14] [WARN] [1718934561.045755618] [tf2_buffer]: Detected jump back in time. Clearing TF buffer.
[component_container_isolated-14] [INFO] [1718934561.358921543] [robot2.local_costmap.local_costmap]: Message Filter dropping message: frame 'base_scan' at time 160.002 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-14] [INFO] [1718934561.359027227] [robot2.global_costmap.global_costmap]: Message Filter dropping message: frame 'base_scan' at time 160.002 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-8] [INFO] [1718934561.377268423] [robot1.local_costmap.local_costmap]: Message Filter dropping message: frame 'base_scan' at time 160.002 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-8] [INFO] [1718934561.377870261] [robot1.global_costmap.global_costmap]: Message Filter dropping message: frame 'base_scan' at time 160.002 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

and the two robots halting motion correlating with them. I think it technically works, but is the problem here just that GZ isn't able to keep up with 2x robots running simultaneously? If so, I understand, just want to make sure its not something else. Its not an amazing user experience, but if that's what we can do for now, I guess that's what we can do for now 🤷

@SteveMacenski SteveMacenski mentioned this pull request Jun 21, 2024
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@SteveMacenski SteveMacenski merged commit 7e82adc into main Jun 21, 2024
@SteveMacenski SteveMacenski deleted the multirobot branch June 21, 2024 02:07
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@SteveMacenski @azeey