foxglove/ros-foxglove-bridge

Switching from one 3D tab to another does not subscribe to /tf

Closed this issue · 10 comments

tonynajjar commented

Description

Version:

  • foxglove studio: 1.87.0
  • foxglove bridge 0.7.4

Steps To Reproduce

Connection: Live connections to ROS2 humble with websockets

1- In foxglove studio open 3 Tabs: 2 with 3D panel visualizing a TF tree and 1 unrelated (e.g. diagnostics)
image

2- Select one of the 3D tabs
3- Select the other 3D tab
4- See that not all not the Transforms are available

However when switching from the unrelated tab to the 3D tabs, then all the transforms are there.

Here is the log when switching from unrelated tab to 3D tab:

simulation  | [foxglove_bridge-33] [INFO] [1708422174.552680920] [foxglove_bridge]: Client 127.0.0.1:52808 is advertising "/move_base_simple/goal" (geometry_msgs/PoseStamped) on channel 279
simulation  | [foxglove_bridge-33] [INFO] [1708422174.555097823] [foxglove_bridge]: Client 127.0.0.1:52808 is advertising "/clicked_point" (geometry_msgs/PointStamped) on channel 280
simulation  | [foxglove_bridge-33] [INFO] [1708422174.557606155] [foxglove_bridge]: Client 127.0.0.1:52808 is advertising "/initialpose" (geometry_msgs/PoseWithCovarianceStamped) on channel 281
simulation  | [foxglove_bridge-33] [INFO] [1708422174.725017269] [foxglove_bridge]: Subscribing to topic "/tf" (tf2_msgs/msg/TFMessage) on channel 1
simulation  | [foxglove_bridge-33] [INFO] [1708422174.728160688] [foxglove_bridge]: Subscribing to topic "/tf_static" (tf2_msgs/msg/TFMessage) on channel 30

Here is the log when switching from a 3D tab to the other:

simulation  | [foxglove_bridge-33] [INFO] [1708422241.137217508] [foxglove_bridge]: Client 127.0.0.1:52808 is no longer advertising /move_base_simple/goal (0 subscribers) on channel 279
simulation  | [foxglove_bridge-33] [INFO] [1708422241.137287078] [foxglove_bridge]: Client 127.0.0.1:52808 is no longer advertising /clicked_point (0 subscribers) on channel 280
simulation  | [foxglove_bridge-33] [INFO] [1708422241.137299441] [foxglove_bridge]: Client 127.0.0.1:52808 is no longer advertising /initialpose (0 subscribers) on channel 281
simulation  | [foxglove_bridge-33] [INFO] [1708422241.147544581] [foxglove_bridge]: Client 127.0.0.1:52808 is advertising "/move_base_simple/goal" (geometry_msgs/PoseStamped) on channel 282
simulation  | [foxglove_bridge-33] [INFO] [1708422241.150091867] [foxglove_bridge]: Client 127.0.0.1:52808 is advertising "/clicked_point" (geometry_msgs/PointStamped) on channel 283
simulation  | [foxglove_bridge-33] [INFO] [1708422241.153672703] [foxglove_bridge]: Client 127.0.0.1:52808 is advertising "/initialpose" (geometry_msgs/PoseWithCovarianceStamped) on channel 284

You can see that there is no subscription to /tf and /tf_static in this case.

Additionally here is my foxglove bridge config:

    launch_foxglove_bridge = IncludeLaunchDescription(
        XMLLaunchDescriptionSource(
            join(share_foxglove_bridge, "launch/foxglove_bridge_launch.xml"),
        ),
        launch_arguments={
            # action server inbuilt messages are currently not supported
            # https://github.com/foxglove/ros-foxglove-bridge/issues/11
            "topic_whitelist": '["^(?:(?!_action).)*$"]',
            "service_whitelist": '["^(?:(?!_action).)*$"]',
            "capabilities": "[clientPublish]",
            "use_sim_time": true,
            "min_qos_depth": "10",
            "max_qos_depth": "100"
        }.items(),
    )

Expected Behavior

Transforms always subscribed to.

foxhubber commented

Internal tracking ticket: FG-6665

tonynajjar commented

Hey, any initial investigation?

achim-k commented

Sorry, this fell of the radar. I will look into this next week

  • 👍1
achim-k commented

It turns out, that when switching from one 3D-panel tab to another tab with a 3D panel, Foxglove Studio does not re-subscribe to /tf_static as it is already subscribed to it. However, since /tf_static is latched, the new panel does not receive these latched transforms. The reason it works when switching to a non-3D panel tab inbetween is because Studio unsubscribes and re-subscribes to `/tf_static.

This is something we have to fix on the Studio side. However, I will keep this issue open until we have it fixed.

  • 👍1
tonynajjar commented

Hi @achim-k, friendly ping for an update please 🙂

achim-k commented

Internal PRs are in review, I hope that it makes it into the next release but cannot promise anything

  • 👍1
achim-k commented

@tonynajjar this should be working now in the web app. It would be great if you could give it a test and report back if there are any remaining issues.

tonynajjar commented

Hi @achim-k, I just upgraded to 2.10.0 and can still reproduce the issue. No changes were made in this repo right?

This is the layout I tested with
Sapphire Landfowl.json

jtbandes commented

It’s not out in a desktop release yet, you will have to try in the web app for now. It will be in 2.11.

tonynajjar commented

ok thanks, I tried it quickly, looks like it works!

  • 🎉2