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DRCSim and TF : please tell me what I'm missing

Hello All,

DRCSim-2.2, Ubuntu 12.04.2LTS

I am trying to convert LaserScan images to Point Clouds with modified version of code here...
[http://answers.ros.org/question/11232/how-to-turn-laser-scan-to-point-cloud-map/]

I get the following error...

terminate called after throwing an instance of 'tf::LookupException'
what(): Frame id /head_hokuyo_frame does not exist! Frames (31): Frame /hokuyo_link exists with parent /head.
Frame /head exists with parent /utorso.
Frame /ltorso exists with parent /pelvis.

I shortened this, but /head_hokoyu_frame is not in the list.



rosrun tf tf_echo /head_hokoyu_frame /pelvis

Failure at 615.773000000
Exception thrown:Frame id /head_hokoyu_frame does not exist! Frames (92): Frame /center_bottom_led_frame exists with parent /head.
Frame /head exists with parent /utorso.
Frame /center_top_led_frame exists with parent /head.
Frame /head_hokuyo_frame exists with parent /hokuyo_link.
Frame /hokuyo_link exists with parent /head.
...

Ok, the frame doesn't exist, then why is it in my list?



"view_frames" shows connection between /pelvis and /head_hokoyu_frame


If I try a shorter path with tf_monitor it looks like the tf is getting lost even though the two links are directly connected... why would two adjacent nodes traverse through so many frames?

rosrun tf tf_monitor /pelvis /ltorso

RESULTS: for /pelvis to /ltorso
Chain is: /pelvis -> NO_PARENT -> /ltorso -> /mtorso -> /l_uarm -> /l_scap -> /l_clav -> /l_farm -> /l_larm -> /utorso -> /l_uleg -> /l_lglut -> /l_talus -> /l_lleg -> /l_uglut -> /pelvis -> /utorso -> /r_uarm -> /r_scap -> /r_clav -> /r_farm -> /r_larm -> /utorso -> /r_uleg -> /r_lglut -> /r_talus -> /r_lleg -> /r_uglut -> /pelvis -> /head -> /head -> /hokuyo_link -> NO_PARENT -> /head -> /pelvis -> /head -> /left_camera_frame -> /left_f0_1 -> NO_PARENT -> /left_f0_2 -> NO_PARENT -> /left_palm -> /l_hand -> /left_f0_base -> /left_f1_1 -> NO_PARENT -> /left_f1_2 -> NO_PARENT -> /left_palm -> /left_f1_base -> /left_f2_1 -> NO_PARENT -> /left_f2_2 -> NO_PARENT -> /left_palm -> /left_f2_base -> /left_f3_1 -> NO_PARENT -> /left_f3_2 -> NO_PARENT -> /left_palm -> /left_f3_base -> /head -> /head -> /right_camera_frame -> /right_f0_1 -> NO_PARENT -> /right_f0_2 -> NO_PARENT -> /right_palm -> /r_hand -> /right_f0_base -> /right_f1_1 -> NO_PARENT -> /right_f1_2 -> NO_PARENT -> /right_palm -> /right_f1_base -> /right_f2_1 -> NO_PARENT -> /right_f2_2 -> NO_PARENT -> /right_palm -> /right_f2_base -> /right_f3_1 -> NO_PARENT -> /right_f3_2 -> NO_PARENT -> /right_palm -> /right_f3_base -> /head Net delay avg = 0.0241092: max = 0.063

Frames:
Frame: /ltorso published by /atlas_robot_state_publisher Average Delay: 0.0170519 Max Delay: 0.047
...

All Broadcasters:
Node: /atlas_robot_state_publisher 96.5228 Hz, Average Delay: -0.24728 Max Delay: 0.047
Node: /multisense_sl_robot_state_publisher 100.595 Hz, Average Delay: -0.247704 Max Delay: 0.021

Sorry, that is long, but I hope the information is useful.

Thank you for any assistance or useful links.

DRCSim and TF : please tell me what I'm missing

Hello All,

DRCSim-2.2, Ubuntu 12.04.2LTS

I am trying to convert LaserScan images to Point Clouds with modified version of code here...
[http://answers.ros.org/question/11232/how-to-turn-laser-scan-to-point-cloud-map/]

Modifications are only changing link/topic names, and changing setExtrapolationLimit to 3.0.

I get the following error...

terminate called after throwing an instance of 'tf::LookupException'
what(): Frame id /head_hokuyo_frame does not exist! Frames (31): Frame /hokuyo_link exists with parent /head.
Frame /head exists with parent /utorso.
Frame /ltorso exists with parent /pelvis.

I shortened this, but /head_hokoyu_frame is not in the list.



rosrun tf tf_echo /head_hokoyu_frame /pelvis

Failure at 615.773000000
Exception thrown:Frame id /head_hokoyu_frame does not exist! Frames (92): Frame /center_bottom_led_frame exists with parent /head.
Frame /head exists with parent /utorso.
Frame /center_top_led_frame exists with parent /head.
Frame /head_hokuyo_frame exists with parent /hokuyo_link.
Frame /hokuyo_link exists with parent /head.
...

Ok, the frame doesn't exist, then why is it in my list?

list.


"view_frames" shows connection between /pelvis and /head_hokoyu_frame


If I try a shorter path with
Update : I have been trying the TF tutorials for inspiration. The view_frames output says the transform from /pelvis to /ltorso is 1363397010.463 sec old ?? Also, tf_monitor it looks like the tf is getting lost even though the two links are directly connected... why would two adjacent nodes traverse through so many frames?

rosrun tf tf_monitor /pelvis /ltorso

RESULTS: for /pelvis to /ltorso
Chain is: /pelvis -> NO_PARENT -> /ltorso -> /mtorso -> /l_uarm -> /l_scap -> /l_clav -> /l_farm -> /l_larm -> /utorso -> /l_uleg -> /l_lglut -> /l_talus -> /l_lleg -> /l_uglut -> /pelvis -> /utorso -> /r_uarm -> /r_scap -> /r_clav -> /r_farm -> /r_larm -> /utorso -> /r_uleg -> /r_lglut -> /r_talus -> /r_lleg -> /r_uglut -> /pelvis -> /head -> /head -> /hokuyo_link -> NO_PARENT -> /head -> /pelvis -> /head -> /left_camera_frame -> /left_f0_1 -> NO_PARENT -> /left_f0_2 -> NO_PARENT -> /left_palm -> /l_hand -> /left_f0_base -> /left_f1_1 -> NO_PARENT -> /left_f1_2 -> NO_PARENT -> /left_palm -> /left_f1_base -> /left_f2_1 -> NO_PARENT -> /left_f2_2 -> NO_PARENT -> /left_palm -> /left_f2_base -> /left_f3_1 -> NO_PARENT -> /left_f3_2 -> NO_PARENT -> /left_palm -> /left_f3_base -> /head -> /head -> /right_camera_frame -> /right_f0_1 -> NO_PARENT -> /right_f0_2 -> NO_PARENT -> /right_palm -> /r_hand -> /right_f0_base -> /right_f1_1 -> NO_PARENT -> /right_f1_2 -> NO_PARENT -> /right_palm -> /right_f1_base -> /right_f2_1 -> NO_PARENT -> /right_f2_2 -> NO_PARENT -> /right_palm -> /right_f2_base -> /right_f3_1 -> NO_PARENT -> /right_f3_2 -> NO_PARENT -> /right_palm -> /right_f3_base -> /head Net delay avg = 0.0241092: max = 0.063

Frames:
Frame: /ltorso published by /atlas_robot_state_publisher
shows Average Delay: 0.0170519 Max Delay: 0.047
...

All Broadcasters:
Node: /atlas_robot_state_publisher 96.5228 Hz, Average Delay: -0.24728 Max Delay: 0.047
Node: /multisense_sl_robot_state_publisher 100.595 Hz, Average Delay: -0.247704 Max Delay: 0.021

Sorry, that is long, but I hope the information is useful.-0.495226 for some frames.

Thank you for any assistance or useful links.