TF Buffer: could not retrieve requested transform from buffer, unregistered

PX4 Autopilot
1

Why am I getting an error?
The environment is drone upboard2. Please tell me why or how to find the error.

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started roslaunch server http://localhost:34181/

SUMMARY

CLEAR PARAMETERS

  • /mavros/

PARAMETERS

  • /camera/realsense2_camera/accel_fps: 0
  • /camera/realsense2_camera/accel_frame_id: camera_accel_frame
  • /camera/realsense2_camera/accel_optical_frame_id: camera_accel_opti…
  • /camera/realsense2_camera/align_depth: False
  • /camera/realsense2_camera/aligned_depth_to_color_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/aligned_depth_to_infra1_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/aligned_depth_to_infra2_frame_id: camera_aligned_de…
  • /camera/realsense2_camera/allow_no_texture_points: False
  • /camera/realsense2_camera/base_frame_id: camera_link
  • /camera/realsense2_camera/calib_odom_file:
  • /camera/realsense2_camera/clip_distance: -1.0
  • /camera/realsense2_camera/color_fps: 15
  • /camera/realsense2_camera/color_frame_id: camera_color_frame
  • /camera/realsense2_camera/color_height: 480
  • /camera/realsense2_camera/color_optical_frame_id: camera_color_opti…
  • /camera/realsense2_camera/color_width: 640
  • /camera/realsense2_camera/depth_fps: 30
  • /camera/realsense2_camera/depth_frame_id: camera_depth_frame
  • /camera/realsense2_camera/depth_height: 480
  • /camera/realsense2_camera/depth_optical_frame_id: camera_depth_opti…
  • /camera/realsense2_camera/depth_width: 640
  • /camera/realsense2_camera/device_type:
  • /camera/realsense2_camera/enable_accel: True
  • /camera/realsense2_camera/enable_color: False
  • /camera/realsense2_camera/enable_depth: True
  • /camera/realsense2_camera/enable_fisheye1: True
  • /camera/realsense2_camera/enable_fisheye2: True
  • /camera/realsense2_camera/enable_fisheye: True
  • /camera/realsense2_camera/enable_gyro: True
  • /camera/realsense2_camera/enable_infra1: True
  • /camera/realsense2_camera/enable_infra2: False
  • /camera/realsense2_camera/enable_pointcloud: False
  • /camera/realsense2_camera/enable_sync: False
  • /camera/realsense2_camera/filters:
  • /camera/realsense2_camera/fisheye1_frame_id: camera_fisheye1_f…
  • /camera/realsense2_camera/fisheye1_optical_frame_id: camera_fisheye1_o…
  • /camera/realsense2_camera/fisheye2_frame_id: camera_fisheye2_f…
  • /camera/realsense2_camera/fisheye2_optical_frame_id: camera_fisheye2_o…
  • /camera/realsense2_camera/fisheye_fps: 30
  • /camera/realsense2_camera/fisheye_frame_id: camera_fisheye_frame
  • /camera/realsense2_camera/fisheye_height: 0
  • /camera/realsense2_camera/fisheye_optical_frame_id: camera_fisheye_op…
  • /camera/realsense2_camera/fisheye_width: 0
  • /camera/realsense2_camera/gyro_fps: 0
  • /camera/realsense2_camera/gyro_frame_id: camera_gyro_frame
  • /camera/realsense2_camera/gyro_optical_frame_id: camera_gyro_optic…
  • /camera/realsense2_camera/imu_optical_frame_id: camera_imu_optica…
  • /camera/realsense2_camera/infra1_frame_id: camera_infra1_frame
  • /camera/realsense2_camera/infra1_optical_frame_id: camera_infra1_opt…
  • /camera/realsense2_camera/infra2_frame_id: camera_infra2_frame
  • /camera/realsense2_camera/infra2_optical_frame_id: camera_infra2_opt…
  • /camera/realsense2_camera/infra_fps: 15
  • /camera/realsense2_camera/infra_height: 480
  • /camera/realsense2_camera/infra_width: 640
  • /camera/realsense2_camera/initial_reset: False
  • /camera/realsense2_camera/json_file_path: /home/up2/catkin_…
  • /camera/realsense2_camera/linear_accel_cov: 0.01
  • /camera/realsense2_camera/odom_frame_id: camera_odom_frame
  • /camera/realsense2_camera/pointcloud_texture_index: 0
  • /camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR
  • /camera/realsense2_camera/pose_frame_id: camera_pose_frame
  • /camera/realsense2_camera/pose_optical_frame_id: camera_pose_optic…
  • /camera/realsense2_camera/publish_odom_tf: True
  • /camera/realsense2_camera/publish_tf: True
  • /camera/realsense2_camera/rosbag_filename:
  • /camera/realsense2_camera/serial_no: 825312070955
  • /camera/realsense2_camera/tf_publish_rate: 0.0
  • /camera/realsense2_camera/topic_odom_in: camera/odom_in
  • /camera/realsense2_camera/unite_imu_method: none
  • /camera/realsense2_camera/usb_port_id:
  • /local_planner_node/goal_x_param: 0
  • /local_planner_node/goal_y_param: 0
  • /local_planner_node/goal_z_param: 4
  • /local_planner_node/pointcloud_topics: [’/camera/depth/p…
  • /mavros/cmd/use_comp_id_system_control: False
  • /mavros/conn/heartbeat_rate: 1.0
  • /mavros/conn/system_time_rate: 1.0
  • /mavros/conn/timeout: 10.0
  • /mavros/conn/timesync_rate: 10.0
  • /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
  • /mavros/distance_sensor/hrlv_ez4_pub/id: 0
  • /mavros/distance_sensor/hrlv_ez4_pub/orientation: ROLL_180
  • /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/laser_1_sub/id: 3
  • /mavros/distance_sensor/laser_1_sub/orientation: ROLL_180
  • /mavros/distance_sensor/laser_1_sub/subscriber: True
  • /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
  • /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
  • /mavros/distance_sensor/lidarlite_pub/id: 1
  • /mavros/distance_sensor/lidarlite_pub/orientation: ROLL_180
  • /mavros/distance_sensor/lidarlite_pub/send_tf: True
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
  • /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
  • /mavros/distance_sensor/sonar_1_sub/id: 2
  • /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
  • /mavros/distance_sensor/sonar_1_sub/subscriber: True
  • /mavros/fcu_protocol: v2.0
  • /mavros/fcu_url: /dev/ttyUSB4
  • /mavros/gcs_url:
  • /mavros/global_position/frame_id: fcu
  • /mavros/global_position/rot_covariance: 99999.0
  • /mavros/global_position/tf/child_frame_id: fcu_utm
  • /mavros/global_position/tf/frame_id: local_origin
  • /mavros/global_position/tf/send: False
  • /mavros/image/frame_id: px4flow
  • /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0…
  • /mavros/imu/frame_id: fcu
  • /mavros/imu/linear_acceleration_stdev: 0.0003
  • /mavros/imu/magnetic_stdev: 0.0
  • /mavros/imu/orientation_stdev: 1.0
  • /mavros/local_position/frame_id: local_origin
  • /mavros/local_position/tf/child_frame_id: fcu
  • /mavros/local_position/tf/frame_id: local_origin
  • /mavros/local_position/tf/send: True
  • /mavros/local_position/tf/send_fcu: False
  • /mavros/mission/pull_after_gcs: True
  • /mavros/mocap/use_pose: False
  • /mavros/mocap/use_tf: True
  • /mavros/plugin_blacklist: [‘safety_area’, '…
  • /mavros/plugin_whitelist: []
  • /mavros/px4flow/frame_id: px4flow
  • /mavros/px4flow/ranger_fov: 0.118682
  • /mavros/px4flow/ranger_max_range: 5.0
  • /mavros/px4flow/ranger_min_range: 0.3
  • /mavros/safety_area/p1/x: 1.0
  • /mavros/safety_area/p1/y: 1.0
  • /mavros/safety_area/p1/z: 1.0
  • /mavros/safety_area/p2/x: -1.0
  • /mavros/safety_area/p2/y: -1.0
  • /mavros/safety_area/p2/z: -1.0
  • /mavros/setpoint_accel/send_force: False
  • /mavros/setpoint_attitude/reverse_throttle: False
  • /mavros/setpoint_attitude/tf/child_frame_id: attitude
  • /mavros/setpoint_attitude/tf/frame_id: local_origin
  • /mavros/setpoint_attitude/tf/listen: False
  • /mavros/setpoint_attitude/tf/rate_limit: 10.0
  • /mavros/setpoint_position/tf/child_frame_id: setpoint
  • /mavros/setpoint_position/tf/frame_id: local_origin
  • /mavros/setpoint_position/tf/listen: False
  • /mavros/setpoint_position/tf/rate_limit: 50.0
  • /mavros/startup_px4_usb_quirk: True
  • /mavros/sys/disable_diag: False
  • /mavros/sys/min_voltage: 10.0
  • /mavros/target_component_id: 1
  • /mavros/target_system_id: 1
  • /mavros/tdr_radio/low_rssi: 40
  • /mavros/time/time_ref_source: fcu
  • /mavros/time/timesync_avg_alpha: 0.6
  • /mavros/vibration/frame_id: vibration
  • /mavros/vision_pose/tf/child_frame_id: vision
  • /mavros/vision_pose/tf/frame_id: local_origin
  • /mavros/vision_pose/tf/listen: False
  • /mavros/vision_pose/tf/rate_limit: 10.0
  • /mavros/vision_speed/listen_twist: False
  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES
/camera/
points_xyz_sw_registered (nodelet/nodelet)
realsense2_camera (nodelet/nodelet)
realsense2_camera_manager (nodelet/nodelet)
/
drop_camera_depth (topic_tools/drop)
drop_camera_ir (topic_tools/drop)
local_planner_node (local_planner/local_planner_node)
mavros (mavros/mavros_node)
rqt_param_toggle (local_planner/rqt_param_toggle.sh)
tf_camera (tf/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

process[mavros-1]: started with pid [14485]
process[tf_camera-2]: started with pid [14486]
process[camera/realsense2_camera_manager-3]: started with pid [14492]
process[camera/realsense2_camera-4]: started with pid [14505]
process[camera/points_xyz_sw_registered-5]: started with pid [14511]
process[drop_camera_depth-6]: started with pid [14512]
process[drop_camera_ir-7]: started with pid [14529]
process[local_planner_node-8]: started with pid [14541]
process[rqt_param_toggle-9]: started with pid [14547]
[ INFO] [1573434707.428395353]: Initializing nodelet with 4 worker threads.
[ INFO] [1573434707.616160784]: RealSense ROS v2.2.9
[ INFO] [1573434707.616252045]: Running with LibRealSense v2.30.0
[ INFO] [1573434707.626853681]: FCU URL: /dev/ttyUSB4
[ INFO] [1573434707.630113259]: serial0: device: /dev/ttyUSB4 @ 57600 bps
[ INFO] [1573434707.631206221]: GCS bridge disabled
[ INFO] [1573434707.689721019]: Plugin 3dr_radio loaded
[ INFO] [1573434707.709103535]: Plugin 3dr_radio initialized
[ INFO] [1573434707.709501858]: Plugin actuator_control loaded
[ INFO] [1573434707.752502274]: Plugin actuator_control initialized
[ INFO] [1573434707.760126761]: Plugin adsb loaded
[ INFO] [1573434707.812896141]: Plugin adsb initialized
[ INFO] [1573434707.813198223]: Plugin altitude loaded
[ INFO] [1573434707.828415166]: Plugin altitude initialized
[ INFO] [1573434707.828652977]: Plugin cam_imu_sync loaded
[ INFO] [1573434707.835916488]: Plugin cam_imu_sync initialized
[ INFO] [1573434707.836155497]: Plugin command loaded
[ INFO] [1573434707.893613338]: Plugin command initialized
[ INFO] [1573434707.894091874]: Plugin companion_process_status loaded
[ INFO] [1573434707.936170281]: Plugin companion_process_status initialized
[ INFO] [1573434707.936382244]: Plugin debug_value loaded
[ INFO] [1573434707.988187977]: Plugin debug_value initialized
[ INFO] [1573434707.988271875]: Plugin distance_sensor blacklisted
[ INFO] [1573434707.988502214]: Plugin fake_gps loaded
[ INFO] [1573434708.102223761]: Plugin fake_gps initialized
[ INFO] [1573434708.102496670]: Plugin ftp loaded
[ INFO] [1573434708.128086855]:
[ INFO] [1573434708.167316065]: Device with serial number 825312070955 was found.

[ INFO] [1573434708.167435997]: Device with physical ID /sys/devices/pci0000:00/0000:00:15.0/usb2/2-4/2-4:1.0/video4linux/video0 was found.
[ INFO] [1573434708.167481337]: Device with name Intel RealSense D435 was found.
[ INFO] [1573434708.173697226]: Device with port number 2-4 was found.
[ INFO] [1573434708.175738513]: Plugin ftp initialized
[ INFO] [1573434708.176048384]: Plugin global_position loaded
[ INFO] [1573434708.213079190]: getParameters…
[ INFO] [1573434708.405454507]: Plugin global_position initialized
[ INFO] [1573434708.405698019]: Plugin gps_rtk loaded
[ INFO] [1573434708.445358870]: Plugin gps_rtk initialized
[ INFO] [1573434708.445802695]: Plugin hil loaded
[ INFO] [1573434708.600932517]: Plugin hil initialized
[ INFO] [1573434708.601298062]: Plugin home_position loaded
[ INFO] [1573434708.640930949]: Plugin home_position initialized
[ INFO] [1573434708.641388968]: Plugin imu loaded
[ INFO] [1573434708.709203765]: Plugin imu initialized
[ INFO] [1573434708.709611958]: Plugin landing_target loaded
[ INFO] [1573434708.796784360]: Plugin landing_target initialized
[ INFO] [1573434708.797501425]: Plugin local_position loaded
[ INFO] [1573434708.885050900]: Plugin local_position initialized
[ INFO] [1573434708.885535925]: Plugin log_transfer loaded
[ INFO] [1573434708.891525382]: setupDevice…
[ INFO] [1573434708.905719463]: Plugin log_transfer initialized
[ INFO] [1573434708.906150816]: Plugin manual_control loaded
[ INFO] [1573434708.922405839]: Plugin manual_control initialized
[ INFO] [1573434708.922867386]: Plugin mocap_pose_estimate loaded
[ INFO] [1573434708.941978641]: Plugin mocap_pose_estimate initialized
[ INFO] [1573434708.942293225]: Plugin mount_control loaded
[ INFO] [1573434708.963356740]: Plugin mount_control initialized
[ INFO] [1573434708.963992922]: Plugin obstacle_distance loaded
[ INFO] [1573434708.975331046]: Plugin obstacle_distance initialized
[ INFO] [1573434708.975617181]: Plugin odom loaded
[ INFO] [1573434708.996862400]: Plugin odom initialized
[ INFO] [1573434708.997533531]: Plugin onboard_computer_status loaded
[ INFO] [1573434709.010827819]: Plugin onboard_computer_status initialized
[ INFO] [1573434709.011220600]: Plugin param loaded
[ INFO] [1573434709.025055047]: Plugin param initialized
[ INFO] [1573434709.025348690]: Plugin px4flow loaded
[ INFO] [1573434709.066803817]: Plugin px4flow initialized
[ INFO] [1573434709.066898421]: Plugin rangefinder blacklisted
[ INFO] [1573434709.067244326]: Plugin rc_io loaded
[ INFO] [1573434709.082972550]: Plugin rc_io initialized
[ INFO] [1573434709.083067476]: Plugin safety_area blacklisted
[ INFO] [1573434709.083452942]: Plugin setpoint_accel loaded
[ INFO] [1573434709.099267055]: Plugin setpoint_accel initialized
[ INFO] [1573434709.099669412]: Plugin setpoint_attitude loaded
[ INFO] [1573434709.143569571]: Plugin setpoint_attitude initialized
[ INFO] [1573434709.143854345]: Plugin setpoint_position loaded
[ INFO] [1573434709.226454901]: Plugin setpoint_position initialized
[ INFO] [1573434709.226752954]: Plugin setpoint_raw loaded
[ INFO] [1573434709.237705511]: JSON file is loaded! (/home/up2/catkin_ws/src/avoidance/local_planner/resource/stereo_calib.json)
[ INFO] [1573434709.237821467]: ROS Node Namespace: camera
[ INFO] [1573434709.237895407]: Device Name: Intel RealSense D435
[ INFO] [1573434709.237931231]: Device Serial No: 825312070955
[ INFO] [1573434709.237970321]: Device physical port: /sys/devices/pci0000:00/0000:00:15.0/usb2/2-4/2-4:1.0/video4linux/video0
[ INFO] [1573434709.238008222]: Device FW version: 05.11.15.00
[ INFO] [1573434709.238045670]: Device Product ID: 0x0B07
[ INFO] [1573434709.238079891]: Enable PointCloud: Off
[ INFO] [1573434709.238129735]: Align Depth: Off
[ INFO] [1573434709.238162447]: Sync Mode: Off
[ INFO] [1573434709.238807998]: Device Sensors:
[ INFO] [1573434709.239287603]: Stereo Module was found.
[ INFO] [1573434709.239390108]: RGB Camera was found.
[ INFO] [1573434709.239489604]: (Fisheye, 0) sensor isn’t supported by current device! – Skipping…
[ INFO] [1573434709.239538675]: (Fisheye, 1) sensor isn’t supported by current device! – Skipping…
[ INFO] [1573434709.239579772]: (Fisheye, 2) sensor isn’t supported by current device! – Skipping…
[ INFO] [1573434709.239617973]: (Gyro, 0) sensor isn’t supported by current device! – Skipping…
[ INFO] [1573434709.239662337]: (Accel, 0) sensor isn’t supported by current device! – Skipping…
[ INFO] [1573434709.239699361]: (Pose, 0) sensor isn’t supported by current device! – Skipping…
[ INFO] [1573434709.240087978]: num_filters: 0
[ INFO] [1573434709.240136682]: Setting Dynamic reconfig parameters.
[ INFO] [1573434709.281542945]: Plugin setpoint_raw initialized
[ INFO] [1573434709.282158466]: Plugin setpoint_velocity loaded
[ INFO] [1573434709.311804686]: Plugin setpoint_velocity initialized
[ INFO] [1573434709.312188865]: Plugin sys_status loaded
[ INFO] [1573434709.396076845]: Plugin sys_status initialized
[ INFO] [1573434709.396416881]: Plugin sys_time loaded
[ INFO] [1573434709.441757301]: TM: Timesync mode: MAVLINK
[ INFO] [1573434709.451897380]: Plugin sys_time initialized
[ INFO] [1573434709.452244402]: Plugin trajectory loaded
[ INFO] [1573434709.500902290]: Plugin trajectory initialized
[ INFO] [1573434709.501236093]: Plugin vfr_hud loaded
[ INFO] [1573434709.505042789]: Plugin vfr_hud initialized
[ INFO] [1573434709.505139281]: Plugin vibration blacklisted
[ INFO] [1573434709.505328785]: Plugin vision_pose_estimate loaded
[ INFO] [1573434709.570903223]: Done Setting Dynamic reconfig parameters.
[ INFO] [1573434709.588197667]: Plugin vision_pose_estimate initialized
[ INFO] [1573434709.588900447]: Plugin vision_speed_estimate loaded
[ INFO] [1573434709.590398099]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16
[ INFO] [1573434709.591077623]: infra1 stream is enabled - width: 640, height: 480, fps: 15, Format: Y8
[ INFO] [1573434709.591167627]: setupPublishers…
[ INFO] [1573434709.605848900]: Expected frequency for depth = 30.00000
[ INFO] [1573434709.619869674]: Plugin vision_speed_estimate initialized
[ INFO] [1573434709.620182820]: Plugin waypoint loaded
[ INFO] [1573434709.656518594]: Plugin waypoint initialized
[ INFO] [1573434709.656621031]: Plugin wheel_odometry blacklisted
[ INFO] [1573434709.657044268]: Plugin wind_estimation loaded
[ INFO] [1573434709.661520833]: Plugin wind_estimation initialized
[ INFO] [1573434709.661648446]: Autostarting mavlink via USB on PX4
[ INFO] [1573434709.661776402]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1573434709.661829085]: Built-in MAVLink package version: 2019.10.10
[ INFO] [1573434709.661895926]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1573434709.661955489]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1573434709.746604696]: Expected frequency for infra1 = 15.00000
[ INFO] [1573434709.864022146]: setupStreams…
[ INFO] [1573434709.865872967]: insert Depth to Stereo Module
[ INFO] [1573434709.866322455]: insert Infrared to Stereo Module
[ INFO] [1573434709.890631784]: SELECTED BASE:Depth, 0
[ INFO] [1573434709.920501420]: RealSense Node Is Up!
advertised as /camera/depth/image_rect_raw_drop
advertised as /camera/infra1/image_rect_raw_drop
[ERROR] [1573434710.440143992]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1573434710.441506492]: TF Buffer: could not retrieve requested transform from buffer, unregistered
[ERROR] [1573434710.442868227]: TF Buffer: could not retrieve requested transform from buffer, unregistered

2

The code needs to transform the incoming pointcloud into local_origin frame. So the algorithm needs a transform from camera_frame -> fcu_frame -> local_origin. The error you get states that this transform was not found. This is normal at the startup of the system, but those errors should disappear after a few seconds when all the processes are fully started up. If you continue getting these errors I would suggest debugging the TF tree, e.g. looking at tf view frames.