Message Filter Dropping error when playing ROS2 bag

[Lamfurst]

Thanks first for the well documented version of LIO-SAM and I really appreciate it! However, after following the instruction in the doc and playing ros2 bag with this command

splsam@artemis-MS-7D31:~/data$ ros2 bag play ./park_dataset/ --topics /points_raw /imu_raw

nothing is shown in the RVIZ2 and I got the following error:

splsam@artemis-MS-7D31:~/ros_ws$ ros2 launch spl_lio_sam run.launch.py 
[INFO] [launch]: All log files can be found below /home/splsam/.ros/log/2023-08-09-01-12-38-101584-artemis-MS-7D31-1221
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : /home/splsam/ros_ws/install/spl_lio_sam/share/spl_lio_sam/config/robot.urdf.xacro
[INFO] [robot_state_publisher-1]: process started with pid [1223]
[INFO] [spl_lio_sam_imuPreintegration-2]: process started with pid [1225]
[INFO] [spl_lio_sam_imageProjection-3]: process started with pid [1227]
[INFO] [spl_lio_sam_featureExtraction-4]: process started with pid [1229]
[INFO] [spl_lio_sam_mapOptimization-5]: process started with pid [1231]
[INFO] [spl_lio_sam_transformFusion-6]: process started with pid [1233]
[INFO] [rviz2-7]: process started with pid [1235]
[spl_lio_sam_featureExtraction-4] [INFO] [1691543558.231555868] [rclcpp]: ----> Feature Extraction Started.
[spl_lio_sam_imuPreintegration-2] [INFO] [1691543558.233062796] [rclcpp]: ----> IMU Preintegration Started.
[spl_lio_sam_transformFusion-6] [INFO] [1691543558.234100793] [rclcpp]: ----> TransformFusion Started.
[spl_lio_sam_imageProjection-3] [INFO] [1691543558.235675817] [rclcpp]: ----> Image Projection Started.
[rviz2-7] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-splsam'
[robot_state_publisher-1] [INFO] [1691543558.257596821] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1691543558.257646974] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1691543558.257650519] [robot_state_publisher]: got segment map
[robot_state_publisher-1] [INFO] [1691543558.257652743] [robot_state_publisher]: got segment navsat_link
[robot_state_publisher-1] [INFO] [1691543558.257654719] [robot_state_publisher]: got segment odom
[spl_lio_sam_mapOptimization-5] [INFO] [1691543558.265555343] [rclcpp]: ----> Map Optimization Started.
[rviz2-7] [INFO] [1691543558.376476308] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-7] [INFO] [1691543558.376567581] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-7] [INFO] [1691543558.391285226] [rviz2]: Stereo is NOT SUPPORTED
[spl_lio_sam_transformFusion-6] [WARN] [1691543558.427135636] [spl_lio_sam_transformFusion]: New subscription discovered on topic '/lio_sam/imu/path', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[spl_lio_sam_imageProjection-3] [INFO] [1691543603.275277675] [spl_lio_sam_imageProjection]: Waiting for IMU data ...
[rviz2-7] [INFO] [1691543605.410942292] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1574795807.213 for reason 'discarding message because the queue is full'
[rviz2-7] [INFO] [1691543605.506734470] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1574795807.415 for reason 'discarding message because the queue is full'
[spl_lio_sam_mapOptimization-5] [INFO] [1691543605.590640287] [spl_lio_sam_mapOptimization]: cloudKeyPoses3D is empty, set transform init to imu rotate
[rviz2-7] [INFO] [1691543606.019487753] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1574795807.516 for reason 'discarding message because the queue is full'
[rviz2-7] [INFO] [1691543606.115202085] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1574795807.617 for reason 'discarding message because the queue is full'
[rviz2-7] [INFO] [1691543606.210518641] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1574795807.718 for reason 'discarding message because the queue is full'
[rviz2-7] [INFO] [1691543606.531321704] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1574795807.819 for reason 'discarding message because the queue is full'
[rviz2-7] [INFO] [1691543613.558139182] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1574795807.919 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-7] [INFO] [1691543613.657824982] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1574795808.020 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-7] [INFO] [1691543613.758775809] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1574795808.121 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-7] [INFO] [1691543613.962280846] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1574795808.323 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-7] [INFO] [1691543614.064189312] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1574795808.424 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-7] [INFO] [1691543614.166203495] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1574795808.525 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-7] [INFO] [1691543614.264065737] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1574795808.626 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-7] [INFO] [1691543614.363951369] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1574795808.726 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-7] [INFO] [1691543614.466155725] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1574795808.827 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-7] [INFO] [1691543614.767808465] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1574795809.130 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-7] [INFO] [1691543614.869050119] [rviz2]: Message Filter dropping message: frame 'velodyne' at time 1574795809.231 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

I'd much appreciate it if you could help me figure out what is happenning here!

[zeal-up]

It's weird that rviz2 showing nothing. You can monitor some topics report HZ(e.g. topicd /lio_sam/imu/odometry). The Message Filter .....` dose not the visualization(normally).

[L-kilvin]

#5
The same problem exists in this issue, and the solution there can be solved