what is this situation

[panyu3258221348]

hell0@hell0-virtual-machine:~/161/fishbot$ ros2 launch kinematic_icp online_node.launch.py lidar_topic:=/scan use_2d_lidar:=true
[INFO] [launch]: All log files can be found below /home/hell0/.ros/log/2025-02-09-20-43-22-631226-hell0-virtual-machine-252066
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [kinematic_icp_online_node-1]: process started with pid [252067]
[kinematic_icp_online_node-1] [INFO] [1739105003.112531058] [kinematic_icp.online_node]: Started in 2D scanner mode with topic: /scan
[kinematic_icp_online_node-1] [INFO] [1739105003.137092286] [kinematic_icp.online_node]: Resetting KISS-ICP pose:
[kinematic_icp_online_node-1] 0.866602 -0.499001 1.44286e-05 0.287426
[kinematic_icp_online_node-1] 0.499001 0.866602 8.11212e-06 0.0993854
[kinematic_icp_online_node-1] -1.65518e-05 1.69914e-07 1 0.168
[kinematic_icp_online_node-1] 0 0 0 1
[kinematic_icp_online_node-1]
[kinematic_icp_online_node-1] [INFO] [1739105003.137198444] [kinematic_icp.online_node]: KISS-ICP ROS 2 odometry node initialized
[kinematic_icp_online_node-1] [WARN] [1739105003.137306791] [LookupTransform]: Lookup would require extrapolation at time 195.777000, but only time 195.753000 is in the buffer, when looking up transform from frame [base_footprint] to frame [odom]
[kinematic_icp_online_node-1] [WARN] [1739105003.351345230] [LookupTransform]: Lookup would require extrapolation into the future. Requested time 195.978000 but the latest data is at time 195.957000, when looking up transform from frame [base_footprint] to frame [odom]
[kinematic_icp_online_node-1] [WARN] [1739105003.557530673] [LookupTransform]: Lookup would require extrapolation into the future. Requested time 196.177000 but the latest data is at time 196.161000, when looking up transform from frame [base_footprint] to frame [odom]
[kinematic_icp_online_node-1] [WARN] [1739105003.752530894] [LookupTransform]: Lookup would require extrapolation into the future. Requested time 196.378000 but the latest data is at time 196.365000, when looking up transform from frame [base_footprint] to frame [odom]
[kinematic_icp_online_node-1] [WARN] [1739105003.953703921] [LookupTransform]: Lookup would require extrapolation into the future. Requested time 196.577000 but the latest data is at time 196.569000, when looking up transform from frame [base_footprint] to frame [odom]
[kinematic_icp_online_node-1] [WARN] [1739105004.146684940] [LookupTransform]: Lookup would require extrapolation into the future. Requested time 196.777000 but the latest data is at time 196.773000, when looking up transform from frame [base_footprint] to frame [odom]
[ERROR] [kinematic_icp_online_node-1]: process has died [pid 252067, exit code -6, cmd '/home/hell0/161/fishbot/install/kinematic_icp/lib/kinematic_icp/kinematic_icp_online_node --ros-args -r __node:=online_node -r __ns:=/kinematic_icp --params-file /home/hell0/161/fishbot/install/kinematic_icp/share/kinematic_icp/config/kinematic_icp_ros.yaml --params-file /tmp/launch_params_l5f3eyxa -r lidar_odometry:=lidar_odometry'].

[panyu3258221348]

I'm using ros2 humble to simulate with gazebo for 2D radar navigation, why is this happening?

[MikeDegany]

@panyu3258221348
What are you simulating? Write more details about how you are generating the laser data.

[panyu3258221348]

您在模拟什么？写下有关如何生成激光数据的更多详细信息。

Here's my emulation gazebo urdf file

Gazebo/Black / cmd_vel:=cmd_vel odom:=odom 30 left_wheel_joint right_wheel_joint 0.2 0.065 20 1.0 true true false odom base_link

  <plugin name="fishbot_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
    <ros>
      <remapping>~/out:=joint_states</remapping>
    </ros>
    <update_rate>30</update_rate>
    <joint_name>right_wheel_joint</joint_name>
    <joint_name>left_wheel_joint</joint_name>
  </plugin>    
  </gazebo> 

  <gazebo reference="laser_link">
    <material>Gazebo/Black</material>
  </gazebo>

<gazebo reference="imu_link">
  <sensor name="imu_sensor" type="imu">
  <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
      <ros>
        <namespace>/</namespace>
        <remapping>~/out:=imu</remapping>
      </ros>
      <initial_orientation_as_reference>false</initial_orientation_as_reference>
    </plugin>
    <always_on>true</always_on>
    <update_rate>100</update_rate>
    <visualize>true</visualize>
    <imu>
      <angular_velocity>
        <x>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>2e-4</stddev>
            <bias_mean>0.0000075</bias_mean>
            <bias_stddev>0.0000008</bias_stddev>
          </noise>
        </x>
        <y>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>2e-4</stddev>
            <bias_mean>0.0000075</bias_mean>
            <bias_stddev>0.0000008</bias_stddev>
          </noise>
        </y>
        <z>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>2e-4</stddev>
            <bias_mean>0.0000075</bias_mean>
            <bias_stddev>0.0000008</bias_stddev>
          </noise>
        </z>
      </angular_velocity>
      <linear_acceleration>
        <x>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>1.7e-2</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </noise>
        </x>
        <y>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>1.7e-2</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </noise>
        </y>
        <z>
          <noise type="gaussian">
            <mean>0.0</mean>
            <stddev>1.7e-2</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </noise>
        </z>
      </linear_acceleration>
    </imu>
  </sensor>
</gazebo>

<gazebo reference="laser_link">
  <sensor name="laser_sensor" type="ray">
  <always_on>true</always_on>
  <visualize>true</visualize>
  <update_rate>20</update_rate>
  <pose>0 0 0.075 0 0 0</pose>
  <ray>
      <scan>
        <horizontal>
          <samples>360</samples>
          <resolution>1.000000</resolution>
          <min_angle>0.000000</min_angle>
          <max_angle>6.280000</max_angle>
        </horizontal>
      </scan>
      <range>
        <min>0.120000</min>
        <max>3.5</max>
        <resolution>0.015000</resolution>
      </range>
      <noise>
        <type>gaussian</type>
        <mean>0.0</mean>
        <stddev>0.01</stddev>
      </noise>
  </ray>

  <plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
    <ros>
      <!-- <namespace>/tb3</namespace> -->
      <remapping>~/out:=scan</remapping>
    </ros>
    <output_type>sensor_msgs/LaserScan</output_type>
    <frame_name>laser_link</frame_name>
  </plugin>
  </sensor>
</gazebo>

[panyu3258221348]

@panyu3258221348 What are you simulating? Write more details about how you are generating the laser data.

This is my topic list

hell0@hell0-virtual-machine:~/161/fishbot$ ros2 topic list
/clock
/cmd_vel
/imu
/joint_states
/odom
/parameter_events
/performance_metrics
/robot_description
/rosout
/scan
/tf
/tf_static

[benemer]

Can you try setting the use_sim_time parameter to true? You can do this by running

export SIMULATION=true && ros2 launch kinematic_icp online_node.launch.py lidar_topic:=/scan use_2d_lidar:=true

or

ros2 launch kinematic_icp online_node.launch.py lidar_topic:=/scan use_2d_lidar:=true use_sim_time:=True