Instead of value, you can specify a textfile, binfile or command attribute to set the value of a parameter. The tagslam workspace contains sync_and_detect, a tool to extract tags and write them to a new bag. If the /use_sim_time parameter is set, the ROS Time API will return time= 0 until it has received a value from the /clock topic. The example: is missing the closing /. /use_sim_time is not set, will not subscribe to simulated time [/clock] topic. Should I always manually transmit the use_sim_time manually to all my nodes in a launchfile in ROS 2, if I want to be able to slow down or accelerate the simulation time or be able to run it on rosbags ?. Here is an example of how to run it on the example bag: roslaunch tagslam sync_and . By clicking Accept all cookies, you agree Stack Exchange can store cookies on your device and disclose information in accordance with our Cookie Policy. Documented. If you restart Gazebo while other nodes are kept alive, time will be reset to zero. https://blog.csdn.net/jiejinquanil/article/details/103756185 Japanese girlfriend visiting me in Canada - questions at border control? Not sure if it was just me or something she sent to the whole team, PSE Advent Calendar 2022 (Day 11): The other side of Christmas. Is it cheating if the proctor gives a student the answer key by mistake and the student doesn't report it? Please read https://wiki.ros.org/rosparam, If you need to set it from a launch file, you can use either the tag to read a yaml file of parameters (https://wiki.ros.org/roslaunch/XML/ro) or you can use the tag to set a particular parameter, like use_sim_time(https://wiki.ros.org/roslaunch/XML/param). How did muzzle-loaded rifled artillery solve the problems of the hand-held rifle? Simplified form: rosparam get namespace rosparam ("set",pname,pval) sets a value for a specified parameter name. I would like to know the necessary of "rosparam set use_sim_time true " when I build exact map by using gmapping and rviz. rosparam contains the rosparam command-line tool for getting and setting ROS Parameters on the Parameter Server using YAML-encoded files. gmapping doesnt update the map on occasion, trouble getting an accurate map with TurtleBot. . Help us identify new roles for community members, Proposing a Community-Specific Closure Reason for non-English content, How can I parse and display all the rostopics and messages published by a rosbag (C++), Rosplay "Bag time" starts 20 sec after rosrecord, Error occurs when I run command "rosbag play example.bag". rev2022.12.9.43105. In other words, Central limit theorem replacing radical n with n. The rubber protection cover does not pass through the hole in the rim. By clicking Post Your Answer, you agree to our terms of service, privacy policy and cookie policy. First, you have to get your parameter server working by setting your ROS_HOSTNAME and ROS_MASTER_URI environment variables and run running "roscore" in a new terminal. orb. Still when I fire the node on machine 1, time stamp starts from zero which is sim_time. Still waiting for valid time ROS tf topic Rviz msg tf msg msg simulated time wall-clock time. It seems that the time stamp on machine 1 is based on sim_time. I didn't set the param 'use_sim_time'. Mathematica cannot find square roots of some matrices? But I would expect a way to setting it globally, since it is the entierity of a . If you turn use_sim_time off then any time values published to /clock will be ignored, If the /use_sim_time parameter is set, the ROS Time API will return time=0 until it has received a value from the /clock topic. Does a 120cc engine burn 120cc of fuel a minute? rosparam set use_sim_time true I have done some experiments with a rosbag file I have and I noticed: I also have noticed that when I do rostopic echo \clock and I play the bag, many of the time published is the same! When I used "rosparam set use_sim_time true " before "rosrun gmapping slam_gmapping scan:=base_scan", my map becomes error " No map received" in rviz. Use the command: Unihertz Titan Slim Specification Basic Information Dimensions: 146.85 67.6 12.75 mm Weight: 204 g (With Battery) CPU: Helio P70 Octa-Core (Up to 2.1GHz) OS: Android 11 Memory: 6GB + 256GB DDR4 1600MHz UFS 2.1 Battery: Non . What I need is to get all time stamps in unix/posix format (10 digit). . You can also set private parameter across a group . And lastly I have noticed that use_sim_time has no effect on any of these results. launch. Browse other questions tagged, Where developers & technologists share private knowledge with coworkers, Reach developers & technologists worldwide. Examples of frauds discovered because someone tried to mimic a random sequence. or in my launch file? ros::Time::now()ROS timeros::Timeros::Duration ros::Time = ros::Time ros::Duration () If while playing back a rosbag you want to record a 2nd bag with timestamps that line up with 1st bag, make sure to set /use_sim_time to true. link Comments Christoph Jun 11 '13 ) Ok. Please start posting anonymously - your entry will be published after you log in or create a new account. bagtruefalsewalltimelaunchlaunch 1:rosparam set use_sim_time true. imuodomlocationimutfimu_link If you need to set it from a launch file, you can use either the <rosparam>tag to read a yaml file of parameters (https . Asking for help, clarification, or responding to other answers. I just ran gmapping and teleop robot to build the map, and then used map_saver to get the map and .yaml file. To subscribe to this RSS feed, copy and paste this URL into your RSS reader. rosbag Received a 'behavior reminder' from manager. link Comments That has _got_ to be a bug. Why is apparent power not measured in watts? How to include SPACEBAR click on bash script to unpause a rosbag? If the parameter name does not exist, the function adds a new parameter in the parameter tree. If it shouldn't be a bug, then I need be surgically altered to believe that. [ WARN] [1576311065.082263288]: /use_sim_time set to true and no clock published. declaration at the top in ROS basic C++ tutorial. 1. Sign in imuodom We do not currently allow content pasted from ChatGPT on Stack Overflow; read our policy here. urdfGazeboros_controlMoveIt pvalOut = rosparam ("get",namespace) retrieves the values of all parameters under the specified namespace as a structure. ssh. slam@in_dev_docker:/apollo$ bash apollo.sh build_lslidar, slam@in_dev_docker:/apollo$ roslaunch lslidar_decoder lslidar_c16_apollo.launch, slam@in_dev_docker:/apollo$ rostopic echo /apollp/sensor/lslidar/PointCloud2. bag truefalsewalltime. Also, is this something you must do for all your nodes and/or launch files? confusion between a half wave and a centre tapped full wave rectifier. Then you can run "rosparam set use_sim_time true" and this should synchronize all nodes to the simulation clock. So on machine 1, I issued the command rosparam set /use_sim_time false. Site design / logo 2022 Stack Exchange Inc; user contributions licensed under CC BY-SA. If you need to set use_sim_time from the commandline, then rosparamis your friend. Hi, I am wondering how you can set use_sim_time to true, or enable it for my nodes. CGAC2022 Day 10: Help Santa sort presents! The <param> tag can be put inside of a <node> tag, in which case the parameter is treated like a private parameter. The ROS API used to get times ros::Time time = ros::Time::now() will retrieve time data from the /clock topic rather than using the system clock. big delay between publisher and subscriber ! bagtruefalsewalltime, How to load the map for multiple robot navigation? SLAM ROS (53) - Unity map_servergmapping (1) ~/catkin_ws/src/my_mobile_robot/launchslam.launch slam.launch Also, is this something you must do for all your nodes and/or launch files? The Current Time block outputs the current ROS or system time. roscore rosparam set /use_sim_time true rostopic pub -s -r 1000 /clock rosgraph_msgs/Clock 'now' rosrun roscpp_tutorials talker rosrun roscpp_tutorials listener The text was updated successfully, but these errors were encountered: All reactions Copy link Contributor . Ready to optimize your JavaScript with Rust? Debian/Ubuntu - Is there a man page listing all the version codenames/numbers? To learn more, see our tips on writing great answers. 1. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. I'd open a ticket. move base . SMAL SLAM 2. Make sure that use_sim_time is set to true before any nodes are started: rosparam set use_sim_time true; Bring up slam_gmapping, which will take in laser scans (in this case, on the base_scan topic) and produce a map: rosrun gmapping slam_gmapping scan:=base_scan. https://www.lizhongyi.com/archives/ros-%E4%B8%8B%E4%BD%BF%E7%94%A83d%E6%BF%80%E5%85%89%E9%9B%B7%E8%BE%BE-velodyne-vlp-16/ Have a question about this project? What is this fallacy: Perfection is impossible, therefore imperfection should be overlooked. rosbag play -l 2020-09-21-17-27-20.bag It is not necessary if you are not using rosbag to play back sensor data. How can I extract the frequency (in Hz) of a topic inside a rosbag? At the same time, it also synchronizes the detections that come from multiple cameras, i.e it filters frames that don't have images from all configured cameras. I am trying to understand what effects does setting use_sim_time to true does specially when recording and playing a rosbag, but unfortunately the info is few and hard to understand. Note: On the PR2, the odom frame is named odom_combined. So what effect does setting this parameter to true have? Titan Slim phone aims to provide physical keyboard lovers with one more variety to choose from. I know already how to set it to true, so that is no problem.how to do it. use_sim_time. Please start posting anonymously - your entry will be published after you log in or create a new account. Do I have to do it within my nodes? Unihertz Titan Slim is a new QWERTY smartphone with a sleek back. Then, the time will only be updated on receipt of a message from the /clock topic and will stay constant between updates. It is not necessary if you are not using rosbag to play back sensor data.. My setup is: a real robot P3DX; a laser; a cellphone running Android APP to teleop robot; I didn't set the param 'use_sim_time'. Maybe there should be a warning about this on the wiki or at run time. missing a '#!' ros time is the same as simulation time when the use_sim_time parameter is enabled. If the use_sim_time ROS parameter is set to true, the block returns the simulation time . Otherwise the messages in the new bag will be stamped with the current system time, which is not what you want. Thanks. How does the Chameleon's Arcane/Divine focus interact with magic item crafting? Do I have to do it within my nodes? How does legislative oversight work in Switzerland when there is technically no "opposition" in parliament? ROSstamprosnode. If you turn use_sim_time off then any time values published to /clock will be ignored. Creative Commons Attribution Share Alike 3.0. If you restart Gazebo, you should also restart everything else. Use this block to synchronize your simulation time with your connected ROS node. ros8rosuse_sim_time_-. Start a ROS Parameter called use_sim_time which is = false If the global parameter server is available and use_sim_time is set, store that value If the environment variable is set, store that value If the use_sim_time was passed as a command line/startup argument to the node, store that value Already on GitHub? In other words, The ROS API used to get times ros::Time time = ros::Time::now () will retrieve time data from the /clock topic rather than using the system clock. ROS Time is based on the system clock of your computer or the /clock topic being published on the ROS node. Apolloubunturos~ Something can be done or not a fit? In order for a ROS node to use simulation time according to the /clock topic, the /use_sim_time parameter must be set to true before the node is initialized. This library is intended for internal use only. Making statements based on opinion; back them up with references or personal experience. Hi, I am wondering how you can set use_sim_time to true, or enable it for my nodes. lego-loamrun.launchbag First, you have to get your parameter server working by setting your ROS_HOSTNAME and ROS_MASTER_URI environment variables and run running "roscore" in a new terminal. heyzude changed the title rostopic pub <topic_name> does NOT shows simulation time when /use_sim_time is set to true rostopic pub <topic_name> does NOT honor /use_sim_time rosparam Jan 13, 2020 dirk-thomas added more-information-needed question labels Feb 3, 2020 The <param> tag defines a parameter to be set on the Parameter Server. The text was updated successfully, but these errors were encountered: Hello, do you solve the problem? If it isn't a bug, it should be. Connect and share knowledge within a single location that is structured and easy to search. Are defenders behind an arrow slit attackable? The only official example I have is from the robot state publisher tutorial, where it is transmitted manually.. In order for a ROS node to use simulation time according to the /clock topic, the /use_sim_time parameter must be set to true before the node is initialized. . bagtruefalsewalltime. This will produce old clock messages. . By clicking Sign up for GitHub, you agree to our terms of service and Not the answer you're looking for? Getting position and moving robot joint in ros using rosbag and dynamixel. So, Python will work with rosparam set use_sim_time 1 but C++ needs rosparam set use_sim_time true. If I don't use "rosparam set use_sim_time true " ,The error don't appear. Could not find library corresponding to plugin rosbag/NoEncryptor, ROS no message published on a topic when I played a rosbag. Robot is not moving, Please check my rqt_graph, the necessary of the "rosparam set use_sim_time true " in gmapping, Creative Commons Attribution Share Alike 3.0, a cellphone running Android APP to teleop robot. $ rosparam set use_sim_time true $ roslaunch mycar_slam gmapping_demo.launch; If the /use_sim_time parameter is set, the ROS Time API will return time=0 until it has received . rosparam can be invoked within a roslaunch file. ROS. Arbotix /apollp/sensor/lslidar/PointCloud2). rviztf msg header/stamprosnode(OLD_DATA); ActionClientstampActionServerActionSerermsgmsgstamp bagtopictftopictopiclego-loamtopic It also contains an experimental library for using YAML with the Parameter Server. -l. rplidar || hokuyo+imucartographer If I don't use ""rosparam set use_sim_time true " , Can I build exact map? I met the same problem, but in the 'rostopic echo /apollo/sensor/gnss/best_pose'. use_sim_time rclcpp falserclcpp use_sim_time true, rclcpp . This can be done in a launchfile or from the command line. . If you copy paste this, use: . (what does this mean??). Why does the distance from light to subject affect exposure (inverse square law) while from subject to lens does not? For example, add . Is energy "equal" to the curvature of spacetime? Machine 2 is showing a Posix/Unix time stamp. ros by example volume 2 , launch. Also helpful is the documentation regarding the ros clock: https://wiki.ros.org/roslaunch/XML/ro You only need to set the /use_sim_time (note that it is in the root namespace) parameter once, and all your nodes will start using simulation time. or in my launch file? to your account, We have connected LenshenC16 Lidar to our PC, and we want to use Apollo to collect data. ROSGazeborviz, 10ROSMoveIt!. Find centralized, trusted content and collaborate around the technologies you use most. Well occasionally send you account related emails. You signed in with another tab or window. But we find out that there's NO message under the corresponding ros topic(ie. ROS (52) - Unity 3. Applied @FantasticMrFox's suggestion to add closing slash. Then you can run "rosparam set use_sim_time true" and this should synchronize all nodes to the simulation clock. run.launch/. ROS::TimeROS::WallTime . 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