[rf2o_laser_odometry]: WARNING: Eigensolver Couldn't Find A Solution. Pose Is Not Updated

Mar 13, 2025 by ADMIN 90 views

Introduction

The rf2o_laser_odometry node is a crucial component of the UGV (Unmanned Ground Vehicle) system, responsible for estimating the vehicle's pose using laser scan data. However, in some cases, the node may encounter an issue where the eigensolver fails to find a solution, resulting in an incomplete or inaccurate pose update. This article aims to provide a detailed analysis of the problem and potential solutions.

Understanding the Issue

The rf2o_laser_odometry node uses a laser scan to estimate the vehicle's pose. The node relies on the eigensolver to compute the pose from the scan data. However, in some cases, the eigensolver may fail to find a solution, resulting in a warning message indicating that the pose is not updated.

Possible Causes

There are several possible causes for this issue:

Incorrect frame ID: The frame ID used in the rf2o_laser_odometry node may be incorrect, leading to a failure in the eigensolver.
Insufficient laser scan data: The laser scan data may be incomplete or insufficient, making it difficult for the eigensolver to find a solution.
Configuration issues: The node's configuration may be incorrect, leading to a failure in the eigensolver.

Troubleshooting Steps

To troubleshoot this issue, follow these steps:

Verify the frame ID: Ensure that the frame ID used in the rf2o_laser_odometry node is correct. In this case, the frame ID was changed from laser to base_lidar_link.
Check the laser scan data: Verify that the laser scan data is complete and sufficient. In this case, the laser scan data was correct.
Review the node's configuration: Review the node's configuration to ensure that it is correct. In this case, the configuration was correct.

Additional Information

After changing the frame ID from laser to base_lidar_link, the TF (Transform) was correct, as verified by the command ros2 topic echo /odom_rf2o. However, when launching the teleop_twist_joy.launch.py file, the robot was not moving, and the rf2o_laser_odometry node was still producing the warning message.

Launch File Output

The output of the launch file is as follows:

[INFO] [launch]: All log files can be found below /home/robot/.ros/log/2025-03-13-11-33-56-370278-ugv-4612
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [4613]
[INFO] [joint_state_publisher-2]: process started with pid [4615]
[INFO] [rviz2-3]: process started with pid [4617]
[INFO] [ugv_bringup-4]: process started with pid [4619]
[INFO] [ugv_driver-5]: process started with pid [4621]
[INFO] [sllidar_node-6]: process started with pid [4631]
[INFO] [rf2o_laser_odometry_node-7]: process started with pid [4633]
[INFO] [base_node-8]: process started with pid [4636]
[robot_state_publisher-1] [WARN] [1741833237.022595954] [ugv.robot_state_publisher]: No robot_description parameter, but command-line argument available.  Assuming argument is name of URDF file.  This backwards compatibility fallback will be removed in the future.
[sllidar_node-6] [INFO] [1741833237.060957683] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.1.0
[sllidar_node-6] [INFO] [1741833237.095581001] [sllidar_node]: SLLidar S/N: 9BDEED95C4E493CAA5E69EF00A0E4B6E
[sllidar_node-6] [INFO] [1741833237.095841036] [sllidar_node]: Firmware Ver: 1.29
[sllidar_node-6] [INFO] [1741833237.095906998] [sllidar_node]: Hardware Rev: 7
[sllidar_node-6] [INFO] [1741833237.098951915] [sllidar_node]: SLLidar health status : 0
[sllidar_node-6] [INFO] [1741833237.099131284] [sllidar_node]: SLLidar health status : OK.
[rf2o_laser_odometry_node-7] [WARN] [1741833237.246257737] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rf2o_laser_odometry_node-7] [INFO] [1741833237.330348407] [rf2o_laser_odometry]: Initializing RF2O node...
[sllidar_node-6] [INFO] [1741833237.353685659] [sllidar_node]: current scan mode: Sensitivity, sample rate: 8 Khz, max_distance: 12.0 m, scan frequency:10.0 Hz,
[rf2o_laser_odometry_node-7] [WARN] [1741833237.422154728] [rf2o_laser_odometry]: Waiting for laser_scans....
[robot_state_publisher-1] [INFO] [1741833237.440519600] [ugv.robot_state_publisher]: got segment 3d_camera_link
[robot_state_publisher-1] [INFO] [1741833237.440723450] [ugv.robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1741833237.440762802] [ugv.robot_state_publisher]: got segment base_imu_link
[robot_state_publisher-1] [INFO] [1741833237.440792283] [ugv.robot_state_publisher]: got segment base_lidar_link
[robot_state_publisher-1] [INFO] [1741833237.440819745] [ugv.robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1741833237.440847060] [ugv.robot_state_publisher]: got segment left_down_wheel_link
[robot_state_publisher-1] [INFO] [1741833237.440874023] [ugv.robot_state_publisher]: got segment left_up_wheel_link
[robot_state_publisher-1] [INFO] [1741833237.440901708] [ugv.robot_state_publisher]: got segment pt_base_link
[robot_state_publisher-1] [INFO] [1741833237.440928207] [ugv.robot_state_publisher]: got segment pt_camera_link
[robot_state_publisher-1] [INFO] [1741833237.440955300] [ugv.robot_state_publisher]: got segment pt_link1
[robot_state_publisher-1] [INFO] [1741833237.440981429] [ugv.robot_state_publisher]: got segment pt_link2
[robot_state_publisher-1] [INFO] [1741833237.441007985] [ugv.robot_state_publisher]: got segment right_down_wheel_link
[robot_state_publisher-1] [INFO] [1741833237.441034521] [ugv.robot_state_publisher]: got segment right_up_wheel_link
[rviz2-3] [INFO] [1741833238.710937815] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1741833238.711788603] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rf2o_laser_odometry_node-7] [INFO] [1741833238.722939836] [rf2o_laser_odometry]: Got first Laser Scan .... Configuring node
[rviz2-3] [INFO] [1741833238.997121147] [rviz2]: Stereo is NOT SUPPORTED
[rf2o_laser_odometry_node-7] [WARN] [1741833394.831857929] [rf2o_laser_odometry]: WARNING: Eigensolver couldn't find a solution. Pose is not updated
[rf2o_laser_odometry_node-7] [WARN] [1741833418.349592512] [rf2o_laser_odometry]: WARNING: Eigensolver couldn't find a solution. Pose is not updated
[rf2o_laser_odometry_node-7] [WARN] [1741833466.119659866] [rf2o_laser_odometry]: WARNING: Eigensolver couldn't find a solution. Pose is not<br/>
**Q&A: rf2o_laser_odometry]: WARNING: Eigensolver couldn't find a solution. Pose is not updated**
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**Q: What is the rf2o_laser_odometry node?**
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A: The **rf2o_laser_odometry** node is a crucial component of the UGV (Unmanned Ground Vehicle) system, responsible for estimating the vehicle's pose using laser scan data.

**Q: What is the purpose of the eigensolver in the rf2o_laser_odometry node?**
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A: The **eigensolver** is used to compute the vehicle's pose from the laser scan data. It is a critical component of the node, and its failure to find a solution can result in an incomplete or inaccurate pose update.

**Q: What are the possible causes of the "Eigensolver couldn't find a solution" warning message?**
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A: There are several possible causes of this warning message, including:

*   **Incorrect frame ID**: The frame ID used in the **rf2o_laser_odometry** node may be incorrect, leading to a failure in the **eigensolver**.
*   **Insufficient laser scan data**: The laser scan data may be incomplete or insufficient, making it difficult for the **eigensolver** to find a solution.
*   **Configuration issues**: The node's configuration may be incorrect, leading to a failure in the **eigensolver**.

**Q: How can I troubleshoot the "Eigensolver couldn't find a solution" warning message?**
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A: To troubleshoot this issue, follow these steps:

1.  **Verify the frame ID**: Ensure that the frame ID used in the **rf2o_laser_odometry** node is correct.
2.  **Check the laser scan data**: Verify that the laser scan data is complete and sufficient.
3.  **Review the node's configuration**: Review the node's configuration to ensure that it is correct.

**Q: What is the output of the launch file when the "Eigensolver couldn't find a solution" warning message is displayed?**
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A: The output of the launch file is as follows:

[INFO] [launch]: All log files can be found below /home/robot/.ros/log/2025-03-13-11-33-56-370278-ugv-4612 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [4613] [INFO] [joint_state_publisher-2]: process started with pid [4615] [INFO] [rviz2-3]: process started with pid [4617] [INFO] [ugv_bringup-4]: process started with pid [4619] [INFO] [ugv_driver-5]: process started with pid [4621] [INFO] [sllidar_node-6]: process started with pid [4631] [INFO] [rf2o_laser_odometry_node-7]: process started with pid [4633] [INFO] [base_node-8]: process started with pid [4636] [robot_state_publisher-1] [WARN] [1741833237.022595954] [ugv.robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [sllidar_node-6] [INFO] [1741833237.060957683] [sllidar_node]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.1.0 [sllidar_node-6] [INFO] [1741833237.095581001] [sllidar_node]: SLLidar S/N: 9BDEED95C4E493CAA5E69EF00A0E4B6E [sllidar_node-6] [INFO] [1741833237.095841036] [sllidar_node]: Firmware Ver: 1.29 [sllidar_node-6] [INFO] [1741833237.095906998] [sllidar_node]: Hardware Rev: 7 [sllidar_node-6] [INFO] [1741833237.098951915] [sllidar_node]: SLLidar health status : 0 [sllidar_node-6] [INFO] [1741833237.099131284] [sllidar_node]: SLLidar health status : OK. [rf2o_laser_odometry_node-7] [WARN] [1741833237.246257737] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [rf2o_laser_odometry_node-7] [INFO] [1741833237.330348407] [rf2o_laser_odometry]: Initializing RF2O node... [sllidar_node-6] [INFO] [1741833237.353685659] [sllidar_node]: current scan mode: Sensitivity, sample rate: 8 Khz, max_distance: 12.0 m, scan frequency:10.0 Hz, [rf2o_laser_odometry_node-7] [WARN] [1741833237.422154728] [rf2o_laser_odometry]: Waiting for laser_scans.... [robot_state_publisher-1] [INFO] [1741833237.440519600] [ugv.robot_state_publisher]: got segment 3d_camera_link [robot_state_publisher-1] [INFO] [1741833237.440723450] [ugv.robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1741833237.440762802] [ugv.robot_state_publisher]: got segment base_imu_link [robot_state_publisher-1] [INFO] [1741833237.440792283] [ugv.robot_state_publisher]: got segment base_lidar_link [robot_state_publisher-1] [INFO] [1741833237.440819745] [ugv.robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1741833237.440847060] [ugv.robot_state_publisher]: got segment left_down_wheel_link [robot_state_publisher-1] [INFO] [1741833237.440874023] [ugv.robot_state_publisher]: got segment left_up_wheel_link [robot_state_publisher-1] [INFO] [1741833237.440901708] [ugv.robot_state_publisher]: got segment pt_base_link [robot_state_publisher-1] [INFO] [1741833237.440928207] [ugv.robot_state_publisher]: got segment pt_camera_link [robot_state_publisher-1] [INFO] [1741833237.440955300] [ugv.robot_state_publisher]: got segment pt_link1 [robot_state_publisher-1] [INFO] [1741833237.440981429] [ugv.robot_state_publisher]: got segment pt_link2 [robot_state_publisher-1] [INFO] [1741833237.441007985] [ugv.robot_state_publisher]: got segment right_down_wheel_link [robot_state_publisher-1] [INFO] [1741833237.441034521] [ugv.robot_state_publisher]: got segment right_up_wheel_link [rviz2-3] [INFO] [1741833238.710937815] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] [INFO] [1741833238.711788603] [rviz2]: OpenGl version: 4.5 (GLSL 4.5) [rf2o_laser_odometry_node-7] [INFO] [1741833238.722939836] [rf2o_laser_odometry]: Got first Laser Scan .... Configuring node [rviz2-3] [INFO] [1741833238.997121147] [rviz2]: Stereo is NOT SUPPORTED [rf2o_laser_odometry_node-7] [WARN] [1741833394.831857929] [rf2o_laser_odometry]: WARNING: Eigensolver couldn't find a solution. Pose is not updated [rf2o_laser_odometry_node-7] [WARN] [1741833418.349592512] [rf2o_laser_odometry]: WARNING: Eigensolver couldn't find a solution. Pose is not updated [rf2o_laser_odometry_node-7] [WARN] [1741833466.119659866] [rf2o_laser_odometry]: WARNING: Eigensolver couldn't find a solution. Pose is not updated [rf2o_laser_odometry_node-7] [WARN] [1741833468.520712898] [rf2o_laser_odometry]: WARNING: Eigensolver couldn't find a solution. Pose is not updated


**Q: What is the solution to the "Eigensolver couldn't find a solution" warning message?**
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A: The solution to this issue depends on the root cause of the