Bug report
Required Info:
- Operating System:
- Installation type:
- Version or commit hash:
- release-latest/ros2.repos
- DDS implementation:
- Client library (if applicable):
Steps to reproduce issue
Step 1:
terimal 1:
setup ros1 environment(kinetic) and run
source <path-to-ros1>/setup.bash
roscore
terminal 2:
build rotors_simulator with ros1
cd ~/catkin_ws/src
git clone https://github.com/ethz-asl/mav_comm
git clone https://github.com/ethz-asl/rotors_simulator
touch ~/catkin_ws/src/rotors_simulator/rotors_hil_interface/CATKIN_IGNORE
cd ~/catkin_ws && catkin_make
run the mav_with_joy.launch
source ~/catkin_ws/devel/setup.bash
roslaunch rotors_gazebo mav_with_joy.launch
it will start gazebo, push the start button at gazebo
Step 2:
terminal 3
make the drone flying
source ~/catkin_ws/devel/setup.bash
rostopic pub /firefly/joy sensor_msgs/Joy "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
axes:
- 0
buttons:
- 3" Step 3:
terminal 4:
run the ros1_bridge
source <path-to-ros1>/setup.bash
source <path-to-ros2>/local_setup.bash
export ROS_MASTER_URI=http://localhost:11311
ros2 run ros1_bridge dynamic_bridge
terminal 5:
start rviz and rviz2
source <path-to-ros2>/local_setup.bash
rviz2
add the tf in rviz2
terminal 6:
source <path-to-ros1>/setup.bash
rviz
add the tf in rviz
Expected behavior
the tf frame should be same smooth between rviz and rviz2
Actual behavior
rviz2 is obvious lag and these are some tf messages lost
Additional information
If whe add up the Frame rate in rviz2 the display will more smooth
the ros2 run tf2_ros tf2_monitor
information is
All Broadcasters:
Node: <no authority available> 260.361 Hz, Average Delay: 1.53372e+09 Max Delay: 1.53372e+09
mem (7.7 GiB)
cpu (Intel® Core™ i7-8550U CPU @ 1.80GHz × 8 ) information
29750 wbl 20 0 4235388 366848 144508 R 105.3 4.6 30:30.85 gzclient
29788 wbl 20 0 3563996 151204 82460 S 37.2 1.9 10:09.64 gzserver
1007 root 20 0 564680 87252 55464 S 11.6 1.1 11:14.80 Xorg
17930 wbl 20 0 1050108 87516 78152 S 11.0 1.1 0:21.32 dynamic_bridge
25865 wbl 20 0 2113812 130572 99360 S 11.0 1.6 0:09.23 rviz
16677 wbl 20 0 1408952 132244 102928 S 10.3 1.6 0:21.86 rviz2
1906 wbl 20 0 1598140 149496 57432 S 6.6 1.9 8:05.13 compiz
29602 wbl 20 0 881344 88116 34936 S 2.7 1.1 0:43.62 python
2120 wbl 20 0 644320 42284 15164 S 2.3 0.5 2:25.98 gnome-terminal-
29503 wbl 20 0 617432 53792 7344 S 2.3 0.7 0:23.69 rosmaster
29586 wbl 20 0 462444 14940 13212 S 2.3 0.2 0:36.95 robot_state_pub
1034 root -51 0 0 0 0 S 1.7 0.0 1:44.17 irq/136-nvidia
1751 wbl 20 0 1316128 657092 8404 S 1.3 8.2 18:50.75 hud-service
29568 wbl 20 0 346236 11832 10872 S 1.3 0.1 0:25.30 roll_pitch_yawr
29516 wbl 20 0 399680 10108 9204 S 0.7 0.1 0:11.72 rosout
29551 wbl 20 0 399736 9832 8932 S 0.7 0.1 0:11.05 joy_node
29552 wbl 20 0 408040 9956 9052 S 0.7 0.1 0:11.20 rotors_joy_inte
8 root 20 0 0 0 0 I 0.3 0.0 0:08.23 rcu_sched
1775 wbl 20 0 659660 31372 15064 S 0.3 0.4 0:42.02 unity-panel-ser
2137 wbl 20 0 977208 97308 44136 S 0.3 1.2 0:18.31 fcitx-qimpanel
23480 wbl 20 0 49568 3792 3064 R 0.3 0.0 0:00.16 top
1 root 20 0 185704 4492 3168 S 0.0 0.1 0:01.98 systemd
2 root 20 0 0 0 0 S 0.0 0.0 0:00.01 kthreadd
4 root 0 -20 0 0 0 I 0.0 0.0 0:00.00 kworker/0:0H
6 root 0 -20 0 0 0 I 0.0 0.0 0:00.00 mm_percpu_wq
7 root 20 0 0 0 0 S 0.0 0.0 0:00.85 ksoftirqd/0
9 root 20 0 0 0 0 I 0.0 0.0 0:00.00 rcu_bh
10 root rt 0 0 0 0 S 0.0 0.0 0:00.08 migration/0
11 root rt 0 0 0 0 S 0.0 0.0 0:00.02 watchdog/0
12 root 20 0 0 0 0 S 0.0 0.0 0:00.00 cpuhp/0
13 root 20 0 0 0 0 S 0.0 0.0 0:00.00 cpuhp/1
14 root rt 0 0 0 0 S 0.0 0.0 0:00.02 watchdog/1
15 root rt 0 0 0 0 S 0.0 0.0 0:00.08 migration/1
16 root 20 0 0 0 0 S 0.0 0.0 0:00.88 ksoftirqd/1
18 root 0 -20 0 0 0 I 0.0 0.0 0:00.00 kworker/1:0H
19 root 20 0 0 0 0 S 0.0 0.0 0:00.00 cpuhp/2
Feature request
Feature description
Implementation considerations
Bug report
Required Info:
Steps to reproduce issue
Step 1:
terimal 1:
setup ros1 environment(kinetic) and run
terminal 2:
build rotors_simulator with ros1
run the
mav_with_joy.launchit will start gazebo, push the start button at gazebo
Step 2:
terminal 3
make the drone flying
Step 3:
terminal 4:
run the ros1_bridge
terminal 5:
start rviz and rviz2
add the tf in rviz2
terminal 6:
add the tf in rviz
Expected behavior
the tf frame should be same smooth between rviz and rviz2
Actual behavior
rviz2 is obvious lag and these are some tf messages lost
Additional information
If whe add up the
Frame ratein rviz2 the display will more smooththe
ros2 run tf2_ros tf2_monitorinformation is
mem (7.7 GiB)
cpu (Intel® Core™ i7-8550U CPU @ 1.80GHz × 8 ) information
Feature request
Feature description
Implementation considerations