Getting Message Filter dropping message for reason Unknown on ROS2 and Rviz2

[Aerones-git]

• Ubuntu 20.04
• Default DDS implementation

Getting messages during Rviz2 run and of course UI is not updated:

➜  imu_tools git:(eloquent) ✗ rviz2
[INFO] [1619443348.077977901] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1619443348.078077117] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[INFO] [1619443348.109486697] [rviz2]: Stereo is NOT SUPPORTED
	[INFO] [1619443368.523429374] [rviz]: Message Filter dropping message: frame 'imu_link' at time 1619443358.495 for reason 'Unknown'
[INFO] [1619443369.515854324] [rviz]: Message Filter dropping message: frame 'imu_link' at time 1619443359.495 for reason 'Unknown'
[INFO] [1619443370.508120856] [rviz]: Message Filter dropping message: frame 'imu_link' at time 1619443360.495 for reason 'Unknown'
[INFO] [1619443371.531937095] [rviz]: Message Filter dropping message: frame 'imu_link' at time 1619443361.495 for reason 'Unknown'
[INFO] [1619443372.523825584] [rviz]: Message Filter dropping message: frame 'imu_link' at time 1619443362.495 for reason 'Unknown'

My code is as follows:

    def loop(self):
        acc_fact = 1000.0
        # mag_fact = 16.0
        gyr_fact = 900.0

        bus = SMBus(self.i2c_bus)
        data = bus.read_i2c_block_data(self.i2c_addr, 0, 0x1f)

        imu_data = Imu()
        imu_data.header.stamp = self.get_clock().now().to_msg()
        imu_data.header.frame_id = self.frame_id

        roll = data[0x0d]
        if roll > 127:
            roll -= 256

        pitch = (data[0x1c] << 8) + data[0x1d]
        yaw = ((data[0x02] << 8) + data[0x03]) / 10

        q = Quaternion.from_euler(roll, pitch, yaw)

        imu_data.orientation.w = q.w
        imu_data.orientation.x = q.x
        imu_data.orientation.y = q.y
        imu_data.orientation.z = q.z

        acc = [(d - 65536 if d > 32767 else d) / acc_fact for d in \
            [(data[0x0c] << 8) + data[0x0d], (data[0x0e] << 8) + data[0x0f], (data[0x10] << 8) + data[0x11]]
        ]

        imu_data.linear_acceleration.x = acc[0]
        imu_data.linear_acceleration.y = acc[1]
        imu_data.linear_acceleration.z = acc[2]
        imu_data.linear_acceleration_covariance[0] = -1

        gyr = [(d - 65536 if d > 32767 else d) / gyr_fact for d in \
            [(data[0x12] << 8) + data[0x13], (data[0x14] << 8) + data[0x15], (data[0x16] << 8) + data[0x17]]
        ]

        imu_data.angular_velocity.x = gyr[0]
        imu_data.angular_velocity.y = gyr[1]
        imu_data.angular_velocity.z = gyr[2]
        imu_data.angular_velocity_covariance[0] = -1

        self.data_publisher.publish(imu_data)

        mag_msg = MagneticField()
        mag_msg.header.stamp = self.get_clock().now().to_msg()
        mag_msg.header.frame_id = self.frame_id

        mag = [float(d - 65536 if d > 32767 else d) for d in \
            [(data[0x06] << 8) + data[0x07], (data[0x08] << 8) + data[0x09], (data[0x0a] << 8) + data[0x0b]]
        ]

        mag_msg.magnetic_field.x = mag[0]
        mag_msg.magnetic_field.y = mag[1]
        mag_msg.magnetic_field.z = mag[2]

        self.mag_publisher.publish(mag_msg)

        temperature_msg = Temperature()
        temperature_msg.header.stamp = self.get_clock().now().to_msg()
        temperature_msg.header.frame_id = self.frame_id

        temperature_msg.temperature = float((data[0x18] << 8) + data[0x19])

        self.temp_publisher.publish(temperature_msg)

[AndreaFinazzi]

I'm experiencing the same, running on:

• Ubuntu 20.04 (docker)
• Foxy
• CycloneDDS