Hokuyo link not spinning in Rviz

Issue #15 resolved
Tom Tseemceeb Xiong
created an issue
Ubuntu version: 14.04.5 LTS
Gazebo version: 7.4.0
ROS version: Indigo

After running the command:

$ roslaunch srcsim qual1.launch init:="true" 

and running:

$ rosrun rviz rviz

Then running:

rostopic pub --once /multisense/set_spindle_speed std_msgs/Float64 '{data: 3.0}'

The "hokuyo" link doesn't spin; despite it spinning in gazebo7. I'm not sure why these items are not showing up in rviz. Any clue?

Comments (19)

  1. Rud Merriam

    The output for rostopic echo -c /multisense/lidar_scan has all ranges at -INF and intensities at 1.0. The header information is constant from scan to scan.

    In Gazebo the lidar is moving.

    Ubuntu version: 14.04.5 LTS
    Gazebo version: 7.4.0
    ROS version: Indigo
    
  2. Tom Tseemceeb Xiong reporter

    Screenshot from 2016-11-08 15:48:32.pngI'm not sure what you exactly mean by that but the lidar_scan does report different distances as it (theoretically should be) spins, rviz also shows changing laser ranges over time. The only thing is that spinning is seen in gazebo and not rviz. So what I get is a horizontal laser range that changes as if it were spinning but it only stays constantly horizontal.

    header: 
      seq: 221
      stamp: 
        secs: 65
        nsecs: 957000000
      frame_id: head_hokuyo_frame
    angle_min: -2.3561899662
    angle_max: 2.3561899662
    angle_increment: 0.00436331471428
    time_increment: 0.0
    scan_time: 0.0
    range_min: 0.10000000149
    range_max: 30.0
    ranges: [inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 4.258179187774658, 4.26117467880249, 4.251285076141357, 4.251906871795654, 4.253505706787109, 4.2502875328063965, 4.246069431304932, 4.229842185974121, 4.221981525421143, 4.255980014801025, 4.223896026611328, 4.242135047912598, 4.22087287902832, 4.237762451171875, 4.231168746948242, 4.202767848968506, 4.2262468338012695, 4.2128448486328125, 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    ---
    

    Screenshot from 2016-11-08 15:48:36.pngScreenshot from 2016-11-08 15:48:39.png

  3. Rud Merriam

    Mine gets no data. Just checked again. It is spinning. I even had Val walk to see if changing the position would have an affect. She's standing close to the console in qual1 so should have readings.

  4. Tom Tseemceeb Xiong reporter

    Okay I figured out the source of error. For some reason the topic

    /ihmc_ros/valkyrie/output/joint_state
    

    Shows that the Hokuyo link's position is always 0.0 despite that it's actually spinning. I decided to import some drcsim code that would create a node to report multisense joint states:

      <node pkg="robot_state_publisher" type="state_publisher" name="multisense_robot_state_publisher">
        <param name="publish_frequency" type="double" value="50.0" />
        <remap from="joint_states" to="/multisense/joint_states" />
      </node>
    

    Then the hokuyo joint started to actually sort of spin in rviz. Checking the topic:

    /multisense/joint_states
    

    I verified that this does indeed give the correct hokuyo position instead of the ihmc topic. The only issue I have right now is that because both the multisense and ihmc joints states are being subscribed by rviz, it gets confused whether the joint is either spinning (multisense topic) or (ihmc topic) becomes stationed at horizontal. What I ultimately get is a half spinning laser range that glitches to horizontal then back to spinning where it left off. Is there a way to fix the IHMC's joint_state publisher so that the hokuyo joint reflects it's gazebo counterpart?

  5. Yoshimaru Tanaka

    Following the drcsim instruction, I set multisense/spindle_speed by publishing the topic: val-multisense-error-rviz-001.png

    The hokuyo does not rotate in rviz, and the sensor output should not look good.

    I'll try Tom's solution.

  6. Jake Webster

    With the limited FOV and reliability of stereo vision, having the Hokuyo would be very helpful in pathplanning through the door. Not to mention, accuracy from laser returns are typically higher than from stereo vision processing.

    Any word on when the fix will be implemented?

  7. Tom Tseemceeb Xiong reporter

    Kudos to WPI Robotics Lab for providing this information on the fix for the lidar! Quote from their team member Vinayak Jagtap:

    Posting this again as a separate message for the benefit of those who are interested. To get the lidar spinning modify the robot_description_common.launch file present in ihmc_ros_common package to have the following :

    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="use_gui" value="FALSE"/> 
    <rosparam param="/source_list">[/multisense/joint_states, /hardware_joint_states]</rosparam> 
    </node>
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
    <!-- remap from="joint_states" to="/ihmc_ros/$(arg robot_name)/output/joint_states" / -->
    <remap from="robot_description" to="/$(arg robot_name)/robot_description" />
    </node>
    
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