Pose stamped message not published #160
Comments
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I can confirm the same problem, the /topic is listed, Could anyone please verify PoseStamped JSON structure below is valid? |
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Sorry for being late, would you please try to see any useful debug information? |
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Thanks very much for your response @minggangw
to which I've tried both: without success
~/ros2-web-bridge$ DEBUG=ros2-web-bridge* node bin/rosbridge.js
ros2-web-bridge:index ROS2 node started +0ms
ros2-web-bridge:index Starting server on port 9090 +1ms
Websocket started on ws://localhost:9090
ros2-web-bridge:Bridge Status level set to error (0) +0ms
ros2-web-bridge:Bridge Web bridge de9db5da-ecd4-4149-98ae-d8f3b6af7173 is created +0ms
(node:24134) DeprecationWarning: Deep requiring like `const uuidv4 = require('uuid/v4');` is deprecated as of [email protected]. Please require the top-level module when using the Node.js CommonJS module or use ECMAScript Modules when bundling for the browser. See https://github.com/uuidjs/uuid#deep-requires-now-deprecated for more information.
ros2-web-bridge:Bridge JSON command received: {"op":"advertise","id":"advertise:/move_base_simple/goal:1","type":"geometry_msgs/PoseStamped","topic":"/move_base_simple/goal","latch":false,"queue_size":100} +991ms
ros2-web-bridge:Bridge advertise a topic: /move_base_simple/goal +1ms
ros2-web-bridge:ResourceProvider Publisher has been created, and the topic name is /move_base_simple/goal. +0ms
ros2-web-bridge:Bridge Suppressed: {"op":"status","level":"none","msg":"OK","id":"advertise:/move_base_simple/goal:1"} +8ms
ros2-web-bridge:Bridge JSON command received: {"op":"publish","id":"publish:/move_base_simple/goal:2","topic":"/move_base_simple/goal","msg":{"isAdvertised":false,"compression":"none","throttle_rate":0,"latch":false,"queue_size":100,"queue_length":0,"reconnect_on_close":true},"latch":false} +35ms
ros2-web-bridge:Bridge Publish a topic named /move_base_simple/goal with {"isAdvertised":false,"compression":"none","throttle_rate":0,"latch":false,"queue_size":100,"queue_length":0,"reconnect_on_close":true} +0ms
ros2-web-bridge:Bridge Response: {"op":"status","level":"error","msg":"publish: TypeError: Invalid argument: frame_id in Header","id":"publish:/move_base_simple/goal:2"} +1ms
ros2-web-bridge:Bridge JSON command received: {"op":"advertise","id":"advertise:/pose:3","type":"geometry_msgs/Pose","topic":"/pose","latch":false,"queue_size":100} +1ms
ros2-web-bridge:Bridge advertise a topic: /pose +0ms
ros2-web-bridge:ResourceProvider Publisher has been created, and the topic name is /pose. +39ms
ros2-web-bridge:Bridge Suppressed: {"op":"status","level":"none","msg":"OK","id":"advertise:/pose:3"} +1ms
ros2-web-bridge:Bridge JSON command received: {"op":"publish","id":"publish:/pose:4","topic":"/pose","msg":{"isAdvertised":false,"compression":"none","throttle_rate":0,"latch":false,"queue_size":100,"queue_length":0,"reconnect_on_close":true},"latch":false} +0ms
ros2-web-bridge:Bridge Publish a topic named /pose with {"isAdvertised":false,"compression":"none","throttle_rate":0,"latch":false,"queue_size":100,"queue_length":0,"reconnect_on_close":true} +0ms
ros2-web-bridge:Bridge Response: {"op":"status","level":"error","msg":"publish: TypeError: Invalid argument: x in Point","id":"publish:/pose:4"} +0ms
ros2-web-bridge:Bridge JSON command received: {"op":"advertise","id":"advertise:/twist:5","type":"geometry_msgs/Twist","topic":"/twist","latch":false,"queue_size":100} +1ms
ros2-web-bridge:Bridge advertise a topic: /twist +0ms
ros2-web-bridge:ResourceProvider Publisher has been created, and the topic name is /twist. +3ms
ros2-web-bridge:Bridge Suppressed: {"op":"status","level":"none","msg":"OK","id":"advertise:/twist:5"} +2ms
ros2-web-bridge:Bridge JSON command received: {"op":"publish","id":"publish:/twist:6","topic":"/twist","msg":{"linear":{"x":0,"y":1,"z":0},"angular":{"x":0,"y":1,"z":0}},"latch":false} +0ms
ros2-web-bridge:Bridge Publish a topic named /twist with {"linear":{"x":0,"y":1,"z":0},"angular":{"x":0,"y":1,"z":0}} +0ms
ros2-web-bridge:Bridge Suppressed: {"op":"status","level":"none","msg":"OK","id":"publish:/twist:6"} +1ms
ros2-web-bridge:Bridge JSON command received: {"op":"advertise","id":"advertise:/empty:7","type":"std_msgs/Empty","topic":"/empty","latch":false,"queue_size":100} +0ms
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I noticed there was an error ros2-web-bridge:Bridge JSON command received: {"op":"publish","id":"publish:/pose:4","topic":"/pose","msg":{"isAdvertised":false,"compression":"none","throttle_rate":0,"latch":false,"queue_size":100,"queue_length":0,"reconnect_on_close":true},"latch":false} +0ms ros2-web-bridge:Bridge Publish a topic named /pose with {"isAdvertised":false,"compression":"none","throttle_rate":0,"latch":false,"queue_size":100,"queue_length":0,"reconnect_on_close":true} +0ms ros2-web-bridge:Bridge Response: {"op":"status","level":"error","msg":"publish: TypeError: Invalid argument: x in Point","id":"publish:/pose:4"} +0ms |
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error in PoseStamped is error in Pose is do the errors originate from JSON? /PoseStamped /pose |
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The |
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thanks for the information! unfortunately, the Bridge response Error remains exactly the same as before. No dice. |
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Sharing the complete code for verification:
```
<script src="https://static.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script src="https://static.robotwebtools.org/roslibjs/current/roslib.js"></script>
<script>
// Connecting to ROS
// -----------------
var ros = new ROSLIB.Ros();
// If there is an error on the backend, an 'error' emit will be emitted.
ros.on('error', function(error) {
document.getElementById('connecting').style.display = 'none';
document.getElementById('connected').style.display = 'none';
document.getElementById('closed').style.display = 'none';
document.getElementById('error').style.display = 'inline';
console.log(error);
});
// Find out exactly when we made a connection.
ros.on('connection', function() {
console.log('Connection made!');
document.getElementById('connecting').style.display = 'none';
document.getElementById('error').style.display = 'none';
document.getElementById('closed').style.display = 'none';
document.getElementById('connected').style.display = 'inline';
});
ros.on('close', function() {
console.log('Connection closed.');
document.getElementById('connecting').style.display = 'none';
document.getElementById('connected').style.display = 'none';
document.getElementById('closed').style.display = 'inline';
});
// Create a connection to the rosbridge WebSocket server.
ros.connect('ws://localhost:9090');
// Publish a Topic
var PoseStampedTopic = new ROSLIB.Topic({
ros : ros,
name : '/move_base_simple/goal',
messageType : 'geometry_msgs/PoseStamped'
});
/* ROS1 definition
let PoseStamped = new ROSLIB.Message({
header: {
seq: 0,
stamp: {
secs: 0,
nsecs: 100
},
frame_id: "world" //tf_prefix+"/"+map_frame;
},
pose: {
position: {
x: 0.0,
y: 0.0,
z: 0.0
},
orientation: {
x: 0.0,
y: 0.0,
z: 0.0,
w: 1.0
}
}
});
*/
var PoseStamped = new ROSLIB.Topic({
header: {
stamp: {
sec: 0,
nanosec: 100
},
frame_id: 'main frame'
},
pose: {
position: {
x: 0.0,
y: 0.0,
z: 0.0
},
orientation: {
x: 0.0,
y: 0.0,
z: 0.0,
w: 1.0
}
}
});
/*ROS2 time message
header: {
stamp: {
sec: 123456,
nanosec: 789,
},
frame_id: 'main frame',
},
name: ['Tom', 'Jerry'],
position: [1, 2],
velocity: [2, 3],
effort: [4, 5, 6],
});
console.log(`Publish ${++count} messages.`);
}, 1000);
rclnodejs.spin(node);
*/
/*
ros2-web-bridge:Bridge Publish a topic named /move_base_simple/goal with {"isAdvertised":false,"compression":"none","throttle_rate":0,"latch":false,"queue_size":100,"queue_length":0,"reconnect_on_close":true} +1ms
ros2-web-bridge:Bridge Response: {"op":"status","level":"error","msg":"publish: TypeError: Invalid argument: frame_id in Header","id":"publish:/move_base_simple/goal:77"} +0ms
*/
// Publish a Topic
var PoseTopic = new ROSLIB.Topic({
ros : ros,
name : '/pose',
messageType : 'geometry_msgs/Pose'
});
var pose_msg = new ROSLIB.Topic({
position: {
x: 0.0,
y: 0.0,
z: 0.0
},
orientation: {
x: 0.0,
y: 0.0,
z: 0.0,
w: 1.0
}
});
var twist_publisher = new ROSLIB.Topic({
ros : ros,
name : '/twist',
messageType : 'geometry_msgs/Twist'
});
var twist_msg = new ROSLIB.Message({
linear: {
x: 0,
y: 1,
z: 0
},
angular: {
x: 0,
y: 1,
z: 0
}
});
var empty_publisher = new ROSLIB.Topic({
ros : ros,
name : '/empty',
messageType : 'std_msgs/Empty'
});
var empty_msg = new ROSLIB.Message({});
var count = 0;
setInterval(() => {
var msg = 'hello from ros2bridge ' + count++;
PoseStampedTopic.publish(PoseStamped);
PoseTopic.publish(pose_msg);
twist_publisher.publish(twist_msg);
empty_publisher.publish(empty_msg);
document.getElementById("publisher").innerText = count;
}, 1000);
</script>
Simple Publisher ExampleThis example will pubilish a topic named "example_topic". Connecting to rosbridge... Connected Error in the backend! Connection closed. Publish message: |
ros2-web-bridge:Bridge Publish a topic named /move_base_simple/goal with {"isAdvertised":false,"compression":"none","throttle_rate":0,"latch":false,"queue_size":100,"queue_length":0,"reconnect_on_close":true} +1ms
ros2-web-bridge:Bridge Response: {"op":"status","level":"error","msg":"publish: TypeError: Invalid argument: frame_id in Header","id":"publish:/move_base_simple/goal:77"} +0msThe JSON string that the bridge received is {"isAdvertised":false,"compression":"none","throttle_rate":0,"latch":false,"queue_size":100,"queue_length":0,"reconnect_on_close":true} I think that is why there was an error thrown, this JSON is supposed to carry |
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@minggangw how would you verify publishing PoseStamped using clientside ROSlib / JSON ? |
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@minggangw I tried importing rcl as a module: but how to export it as a module within ros2-web-bridge/node_modules/rclnodejs/index.js ? |
Here is the above Example plugged into the /demo/ index.html The problem is that even when loaded into the HTML page, the same error is thrown, making it not possible to spin the rclnode publisher: publisher-message-example.js:19 Uncaught ReferenceError: require is not defined Expand below for HTML |
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Hi @mis-eu thanks for your continuous investigation on this issue.
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Hello @minggangw I suspected the C++ codebase could not be made available to the Browser without a JavaScript loader. Thanks for confirming this and the electron recommendation, |
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Maybe you could log in the roslibjs at https://github.com/RobotWebTools/roslibjs/blob/969f568ceeb15600ebea1a5047bca5b34b7e58ad/src/util/workerSocketImpl.js#L27 to see if the JSON string is correct practically when it's being sent, and if you want to do more in ROS2 by JavaScript, using |
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It is interesting that Node is throwing the same error rosbridge returned for the ROSlib JSON of PoseStamped discussed above. Running node on the publisher-example.js updated to The publisher-example.js template only specifies the message Name and Topic, not the object format. script: output: PoseStamped is available under installed node_modules under:
```
// This file is automatically generated by Intel rclnodejs
//
// *** DO NOT EDIT directly
//
'use strict';
const ref = require('ref-napi');
const StructType = require('ref-struct-di')(ref);
const ArrayType = require('ref-array-di')(ref);
const primitiveTypes = require('../../rosidl_gen/primitive_types.js');
const deallocator = require('../../rosidl_gen/deallocator.js');
const translator = require('../../rosidl_gen/message_translator.js');
const HeaderWrapper = require('../../generated/std_msgs/std_msgs__msg__Header.js');
const PoseWrapper = require('../../generated/geometry_msgs/geometry_msgs__msg__Pose.js');
const PoseStampedRefStruct = StructType({
header: HeaderWrapper.refObjectType,
pose: PoseWrapper.refObjectType,
});
const PoseStampedRefArray = ArrayType(PoseStampedRefStruct);
const PoseStampedRefStructArray = StructType({
data: PoseStampedRefArray,
size: ref.types.size_t,
capacity: ref.types.size_t
});
// Define the wrapper class.
class PoseStampedWrapper {
constructor(other) {
this._wrapperFields = {};
if (typeof other === 'object' && other._refObject) {
this._refObject = new PoseStampedRefStruct(other._refObject.toObject());
this._wrapperFields.header = new HeaderWrapper(other._wrapperFields.header);
this._wrapperFields.pose = new PoseWrapper(other._wrapperFields.pose);
} else if (typeof other !== 'undefined') {
this._initMembers();
translator.constructFromPlanObject(this, other);
} else {
this._initMembers();
}
this.freeze();
}
_initMembers() {
this._refObject = new PoseStampedRefStruct();
this._wrapperFields.header = new HeaderWrapper();
this._wrapperFields.pose = new PoseWrapper();
}
static createFromRefObject(refObject) {
let self = new PoseStampedWrapper();
self.copyRefObject(refObject);
return self;
}
static createArray() {
return new PoseStampedArrayWrapper;
}
static get ArrayType() {
return PoseStampedArrayWrapper;
}
static get refObjectArrayType() {
return PoseStampedRefStructArray
}
static get refObjectType() {
return PoseStampedRefStruct;
}
toRawROS() {
this.freeze(true);
return this._refObject.ref();
}
freeze(own = false, checkConsistency = false) {
if (checkConsistency) {
}
this._wrapperFields.header.freeze(own, checkConsistency);
this._refObject.header = this._wrapperFields.header.refObject;
this._wrapperFields.pose.freeze(own, checkConsistency);
this._refObject.pose = this._wrapperFields.pose.refObject;
}
serialize() {
this.freeze(false, true);
return this._refObject.ref();
}
deserialize(refObject) {
this._wrapperFields.header.copyRefObject(refObject.header);
this._wrapperFields.pose.copyRefObject(refObject.pose);
}
toPlainObject(enableTypedArray) {
return translator.toPlainObject(this, enableTypedArray);
}
static freeStruct(refObject) {
HeaderWrapper.freeStruct(refObject.header);
PoseWrapper.freeStruct(refObject.pose);
}
static destoryRawROS(msg) {
PoseStampedWrapper.freeStruct(msg.refObject);
}
static type() {
return {pkgName: 'geometry_msgs', subFolder: 'msg', interfaceName: 'PoseStamped'};
}
static isPrimitive() {
return false;
}
static get isROSArray() {
return false;
}
get refObject() {
return this._refObject;
}
get header() {
return this._wrapperFields.header;
}
set header(value) {
if (value instanceof HeaderWrapper) {
this._wrapperFields.header.copy(value);
} else {
this._wrapperFields.header.copy(new HeaderWrapper(value));
}
}
get pose() {
return this._wrapperFields.pose;
}
set pose(value) {
if (value instanceof PoseWrapper) {
this._wrapperFields.pose.copy(value);
} else {
this._wrapperFields.pose.copy(new PoseWrapper(value));
}
}
copyRefObject(refObject) {
this._refObject = new PoseStampedRefStruct(refObject.toObject());
this._wrapperFields.header.copyRefObject(this._refObject.header);
this._wrapperFields.pose.copyRefObject(this._refObject.pose);
}
copy(other) {
this._refObject = new PoseStampedRefStruct(other._refObject.toObject());
this._wrapperFields.header.copy(other._wrapperFields.header);
this._wrapperFields.pose.copy(other._wrapperFields.pose);
}
static get classType() {
return PoseStampedWrapper;
}
static get ROSMessageDef() {
return {"constants":[],"fields":[{"name":"header","type":{"isArray":false,"arraySize":null,"isUpperBound":false,"isDynamicArray":false,"isFixedSizeArray":false,"pkgName":"std_msgs","type":"Header","stringUpperBound":null,"isPrimitiveType":false},"default_value":null},{"name":"pose","type":{"isArray":false,"arraySize":null,"isUpperBound":false,"isDynamicArray":false,"isFixedSizeArray":false,"pkgName":"geometry_msgs","type":"Pose","stringUpperBound":null,"isPrimitiveType":false},"default_value":null}],"baseType":{"pkgName":"geometry_msgs","type":"PoseStamped","stringUpperBound":null,"isPrimitiveType":false},"msgName":"PoseStamped"};
}
hasMember(name) {
let memberNames = ["header","pose"];
return memberNames.indexOf(name) !== -1;
}
}
// Define the wrapper of array class.
class PoseStampedArrayWrapper {
constructor(size = 0) {
this._resize(size);
}
toRawROS() {
return this._refObject.ref();
}
fill(values) {
const length = values.length;
this._resize(length);
values.forEach((value, index) => {
if (value instanceof PoseStampedWrapper) {
this._wrappers[index].copy(value);
} else {
this._wrappers[index] = new PoseStampedWrapper(value);
}
});
}
// Put all data currently stored in `this._wrappers` into `this._refObject`
freeze(own) {
this._wrappers.forEach((wrapper, index) => {
wrapper.freeze(own);
this._refArray[index] = wrapper.refObject;
});
this._refObject.size = this._wrappers.length;
this._refObject.capacity = this._wrappers.length;
if (this._refObject.capacity === 0) {
this._refObject.data = null
} else {
this._refObject.data = this._refArray.buffer;
}
}
get refObject() {
return this._refObject;
}
get data() {
return this._wrappers;
}
get size() {
return this._wrappers.length;
}
set size(value) {
if (typeof value != 'number') {
throw new TypeError('Invalid argument: should provide a number to PoseStampedArrayWrapper.size setter');
return;
}
return this._resize(value);
}
get capacity() {
return this._wrappers.length;
}
set capacity(value) {
if (typeof value != 'number') {
throw new TypeError('Invalid argument: should provide a number to PoseStampedArrayWrapper.capacity setter');
}
return this._resize(value);
}
get refObject() {
return this._refObject;
}
_resize(size) {
if (size < 0) {
throw new RangeError('Invalid argument: should provide a positive number');
return;
}
this._refArray = new PoseStampedRefArray(size);
this._refObject = new PoseStampedRefStructArray();
this._refObject.size = size;
this._refObject.capacity = size;
this._wrappers = new Array();
for (let i = 0; i < size; i++) {
this._wrappers.push(new PoseStampedWrapper());
}
}
// Copy all data from `this._refObject` into `this._wrappers`
copyRefObject(refObject) {
this._refObject = refObject;
let refObjectArray = this._refObject.data;
refObjectArray.length = this._refObject.size;
this._resize(this._refObject.size);
for (let index = 0; index < this._refObject.size; index++) {
this._wrappers[index].copyRefObject(refObjectArray[index]);
}
}
copy(other) {
if (! (other instanceof PoseStampedArrayWrapper)) {
throw new TypeError('Invalid argument: should provide "PoseStampedArrayWrapper".');
}
this._resize(other.size);
// Array deep copy
other._wrappers.forEach((wrapper, index) => {
this._wrappers[index].copy(wrapper);
});
}
static freeArray(refObject) {
let refObjectArray = refObject.data;
refObjectArray.length = refObject.size;
for (let index = 0; index < refObject.size; index++) {
PoseStampedWrapper.freeStruct(refObjectArray[index]);
}
}
static get elementType() {
return PoseStampedWrapper;
}
static get isROSArray() {
return true;
}
static get useTypedArray() {
return false;
}
get classType() {
return PoseStampedArrayWrapper;
}
}
module.exports = PoseStampedWrapper;
/*
* The following is the original spec object coming from parser:
{
"constants": [],
"fields": [
{
"name": "header",
"type": {
"isArray": false,
"arraySize": null,
"isUpperBound": false,
"isDynamicArray": false,
"isFixedSizeArray": false,
"pkgName": "std_msgs",
"type": "Header",
"stringUpperBound": null,
"isPrimitiveType": false
},
"default_value": null
},
{
"name": "pose",
"type": {
"isArray": false,
"arraySize": null,
"isUpperBound": false,
"isDynamicArray": false,
"isFixedSizeArray": false,
"pkgName": "geometry_msgs",
"type": "Pose",
"stringUpperBound": null,
"isPrimitiveType": false
},
"default_value": null
}
],
"baseType": {
"pkgName": "geometry_msgs",
"type": "PoseStamped",
"stringUpperBound": null,
"isPrimitiveType": false
},
"msgName": "PoseStamped"
}
*/
```
|
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and running node on that same publisher-example.js but with geometry_msgs/msg/Twist on /cmd_vel topic throws the same Invalid argument: x in Vector 3 error as with roslibjs $ node publisher-example-posestamped.js script: |
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I think the case is a little mess here, let me clarify it. I tried the example below and it works, and you can verify by writing a subscriber to log the topic you received. My env is: Nodejs v12.20.0, rclnodejs v0.17.0, ROS2 Foxy patch release3. 'use strict';
/* eslint-disable camelcase */
const rclnodejs = require('rclnodejs');
rclnodejs
.init()
.then(() => {
const node = rclnodejs.createNode('publisher_message_example_node');
const publisher = node.createPublisher(
'geometry_msgs/msg/PoseStamped',
'PoseStamped'
);
let count = 0;
setInterval(function () {
publisher.publish({
header: {
stamp: {
sec : 0,
nanosec : 100
},
frame_id : "world" //tf_prefix+"/"+map_frame;
},
pose: {
position: {
x : 0.0,
y : 0.0,
z : 0.0
},
orientation: {
x : 0.0,
y : 0.0,
z : 0.0,
w : 1.0
}
}
});
console.log(`Publish ${++count} messages.`);
}, 1000);
rclnodejs.spin(node);
})
.catch((e) => {
console.log(e);
});and to subscribe the topic 'use strict';
const rclnodejs = require('../index.js');
rclnodejs
.init()
.then(() => {
const node = rclnodejs.createNode('subscription_message_example_node');
let count = 0;
node.createSubscription(
'geometry_msgs/msg/PoseStamped',
'PoseStamped',
(pose) => {
console.log(`Received message No. ${++count}: `, pose);
}
);
rclnodejs.spin(node);
})
.catch((e) => {
console.log(e);
}); |
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@minggangw Thanks very much! These validate publishing of I had to make just one change in the Subscriber script, to require (rclnodejs) instead of (../index.js) as below:
|
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That's it 🚀 |
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Hi y'all,
I am using your minimum example to build a publisher for a pose stamped message.
I can publishing an empty message, a twist message, but no Pose and no PoseStamped message.
It is creating their publishers as I can echo the topic, but nothing is written into the Pose and PoseStamped topics.
Either my way of defining the topic message variable is wrong:
or this is a bug in ROSLIB.
You can find my example.html file bellow.
It would be great if you could give me hint on how to debug this issue.
Thanks in advance!
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