ros-naoqi/naoqi_driver

Error : Do not calculate NAO Footprint, no transform possible

AmelieLegeleux opened this issue · 3 comments

AmelieLegeleux commented

Hello, I am working on Ubuntu 16.04 with Kinetic version of Ros. I have a Nao V6.
When I run a roscore and roslaunch naoqi_driver naoqi_driver.launch (with corresponding nao_ip, roscore_ip et network_interface), I have this error : "Do not calculate NAO Footprint, no transform possible". I cannot move the joints of the Nao with this error.
Thanks

mbusy commented

Hi, indeed that has to be fixed. But it shouldn't prevent you from moving NAO's joints, using the /joint_angles topic (if the joints are stiffed). For instance, that message should move the robot's head:

rostopic pub /joint_angles naoqi_bridge_msgs/JointAnglesWithSpeed "header:
  seq: 0
  stamp: {secs: 0, nsecs: 0}
  frame_id: ''
joint_names: ['HeadPitch']
joint_angles: [0.2]
speed: 0.2
relative: 0"

Can you try to publish that exact message and get back to me ?
Thanks

AmelieLegeleux commented

Hi, thank you for your answer !
You're right, I can move the robot with your command.
The error is always there.

mbusy commented

Perfect!

Yep, this error has actually been there for quite some time, it is triggered because of a failing canTransform. It should be investigated, my guess is that it could be linked to the cache_time of the tf2 buffer.

In any case, if you can move the joints of the robot, you shouldn't be impacted!