/imu has an empty frame_id

[BillWSY]

in the latest robot_driver package.

[mikeferguson]

@dbking77

[dbking77]

@BillWSY What version of robot_drivers package?

cat /opt/ros/indigo/share/package.xml

[BillWSY]

cat /opt/ros/indigo/share/fetch_drivers/package.xml

  <name>fetch_drivers</name>
  <version>0.7.28</version>
  <description>
    This is both the ROS drivers and the firmware for Fetch Robotics robots.
  </description>
  <author>Michael Ferguson</author>
  <author>Derek King</author>
  <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
  <license>Proprietary</license>

[dbking77]

This should fixed in 0.7.29. @erelson @bluryi are there any plans to sync a new fetch_drivers release to the public repo?

[ayzaan]

When is the fix going to be released? It looks like the latest available is 0.7.28

[moriarty]

@rctoris: This sounds like it also effects 14.04.5 and Indigo but I've added it to the 18.04 milestone to keep track of it.

[moriarty]

0.7.29 was never released for Indigo, and at the time we changed how everything internally was built and released (docker, automated nightly builds, different versioning).

@cjds & @bluryi we should discuss if, and how to release this package, or if we will only support 0.8.6 and Melodic.

0.8.6 is available in the default ros melodic packages. Versions 0.8.0 -> 0.8.5 were versions built for Melodic, but only available on ros-shadow-fixed and as we build a new system to release a binary version of our drivers to the public build farm.

ZebraDevs/fetch_robots@52ac154

[moriarty]

Sorry-

We didn't get around to fixing this and releasing 0.7.29 into Indigo, which is now End of Life.

You should be able to upgrade to 18.04 and Melodic which will give you a new version of the drivers where this has been fixed.

https://docs.fetchrobotics.com/indigo_to_melodic.html

[moriarty]

Re-opening this to check if it's actually fixed in 0.7.29 and later releases.

[moriarty]

I'm closing this again because. I've tested on Fetch3 with drivers 0.8.6

amoriarty@fetch3:~$ rostopic echo /odom | grep frame_id -n1 -m3

5-    nsecs: 179094103
6:  frame_id: "odom"
7:child_frame_id: "base_link"
8-pose: 
--
36-    nsecs: 188292249
37:  frame_id: "odom"
38-child_frame_id: "base_link"

amoriarty@fetch3:~$ dpkg --status ros-melodic-fetch-drivers

Package: ros-melodic-fetch-drivers
Status: install ok installed
Priority: extra
Section: misc
Installed-Size: 19814
Maintainer: Alexander Moriarty <amoriarty@fetchrobotics.com>
Architecture: amd64
Version: 0.8.6-0bionic.20190320.173739
Depends: libboost-filesystem1.65.1, libboost-program-options1.65.1, libboost-system1.65.1, libboost-thread1.65.1, libc6 (>= 2.14), libconsole-bridge0.4, libcurl4 (>= 7.16.2), libgcc1 (>= 1:3.0), libstdc++6 (>= 5.2), libtinyxml2-6 (>= 5.0.0), liburdfdom-world, libyaml-cpp0.5v5, curl, libboost-all-dev, libcurl4-openssl-dev, liburdfdom-dev, libyaml-cpp-dev, python-dev, ros-melodic-actionlib, ros-melodic-actionlib-msgs, ros-melodic-diagnostic-msgs, ros-melodic-fetch-auto-dock-msgs, ros-melodic-fetch-driver-msgs, ros-melodic-nav-msgs, ros-melodic-power-msgs, ros-melodic-robot-calibration-msgs, ros-melodic-robot-controllers, ros-melodic-robot-controllers-interface, ros-melodic-rosconsole, ros-melodic-roscpp, ros-melodic-roscpp-serialization, ros-melodic-rostime, ros-melodic-sensor-msgs, ros-melodic-urdf
Description: The public fetch_drivers package is a binary only release.
 fetch_drivers contains both the drivers and firmware for the fetch and freight research robots. There should be no reason to use these drivers unless you're running on a fetch or a freight research robot. This package, is a cmake/make only package which installs the binaries for the drivers and firmware.
Homepage: https://wiki.ros.org/fetch_drivers

[moriarty]

I need more ☕ .. I checked the wrong topic 🤦‍♂️ sorry.

This issue is still open 👎

[moriarty]

amoriarty@fetch3:~rostopic echo /imu | grep frame_id -n2 -m3

4-    secs: 1566323843
5-    nsecs: 933911997
6:  frame_id: ''
7-orientation: 
8-  x: 0.0
--
27-    secs: 1566323843
28-    nsecs: 943921238
29:  frame_id: ''
30-orientation: 
31-  x: 0.0
--
50-    secs: 1566323843
51-    nsecs: 953972405
52:  frame_id: ''
53-orientation: 
54-  x: 0.0

[moriarty]

Found the problem.

The frame_id is being set for /imu1/imu and /imu2/imu but not /imu which is the combined imu.

The constructor should have a better default for the frame.

[moriarty]

This was automatically closed when I merged a commit to the private repo mentioning this issue.

The real fix is in the CI pipeline and will be available in 0.8.8

[moriarty]

binary drivers 0.8.8 ros/rosdistro#22072 should fix this.

[moriarty]

fixed in ros-testing