Comments (9)
Thanks for reporting, I will take a look ASAP
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There is something very weird related to the message with prefix /ihmc
Apparently the definition is incomplete. It looks like the message was created by hand and not from
nav_msgs/Odometry.h
The other message instead is just fine.
Which process is publishing the the valkyrie/output/robot_pose?
This message can NOT be opened by Plotuggler.
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To be more specific. This is the truncated definition of the ihmc message
# This represents an estimate of a position and velocity in free space.
# The pose in this message should be specified in the coordinate frame given by header.frame_id.
# The twist in this message should be specified in the coordinate frame given by the child_frame_id
Header header
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/TwistWithCovariance twist
Whilst this it the correct one from /floating_base_pose
# This represents an estimate of a position and velocity in free space.
# The pose in this message should be specified in the coordinate frame given by header.frame_id.
# The twist in this message should be specified in the coordinate frame given by the child_frame_id
Header header
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/TwistWithCovariance twist
================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data
# in a particular coordinate frame.
#
# sequence ID: consecutively increasing ID
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id
================================================================================
MSG: geometry_msgs/PoseWithCovariance
# This represents a pose in free space with uncertainty.
Pose pose
# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance
================================================================================
MSG: geometry_msgs/Pose
# A representation of pose in free space, composed of postion and orientation.
Point position
Quaternion orientation
================================================================================
MSG: geometry_msgs/Point
# This contains the position of a point in free space
float64 x
float64 y
float64 z
================================================================================
MSG: geometry_msgs/Quaternion
# This represents an orientation in free space in quaternion form.
float64 x
float64 y
float64 z
float64 w
================================================================================
MSG: geometry_msgs/TwistWithCovariance
# This expresses velocity in free space with uncertainty.
Twist twist
# Row-major representation of the 6x6 covariance matrix
# The orientation parameters use a fixed-axis representation.
# In order, the parameters are:
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
float64[36] covariance
================================================================================
MSG: geometry_msgs/Twist
# This expresses velocity in free space broken into its linear and angular parts.
Vector3 linear
Vector3 angular
================================================================================
MSG: geometry_msgs/Vector3
# This represents a vector in free space.
# It is only meant to represent a direction. Therefore, it does not
# make sense to apply a translation to it (e.g., when applying a
# generic rigid transformation to a Vector3, tf2 will only apply the
# rotation). If you want your data to be translatable too, use the
# geometry_msgs/Point message instead.
float64 x
float64 y
float64 z
from plotjuggler.
It is published by the IHMC Valkyrie Controller we are using in the Space Robotics Challenge.
Installation instructions are here: https://bitbucket.org/osrf/srcsim/wiki/system_setup
from plotjuggler.
As I said, the message seems to be corrupted and there is nothing I can do about it (a part from hard coding a solution for you).
I have tried to use rqt_plot and it is not able to extract the fields either.
from plotjuggler.
My suggestion is to ask the people a IHMC if they know why that message definition was truncated.
They are doing something "wrong" in my humble opinion.
from plotjuggler.
Yeah, certainly looks like that. Thanks for the help!
from plotjuggler.
For the records.
There is a solution to solve this problem. I just tested it and it works;
You can hard code the message definition inside the plugin doing this:
#include <nav_msgs/Odometry.h>
DataLoadROS::DataLoadROS()
{
_extensions.push_back( "bag");
RosIntrospectionFactory::get().registerMessage(
ros::message_traits::DataType<nav_msgs::Odometry>::value(),
ros::message_traits::MD5Sum<nav_msgs::Odometry>::value(),
ros::message_traits::DataType<nav_msgs::Odometry>::value(),
ros::message_traits::Definition<nav_msgs::Odometry>::value() );
}
from plotjuggler.
Awesome, next time you come by PAL I'll invite you to a beer!
from plotjuggler.
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