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TF debug checklist

Use this checklist to debug camera-to-base TF and tumbler pose wiring without commanding robot motion.

ROS log directory workaround

Some field machines cannot write ROS logs under /home/ssu/.ros/log. Set a writable log directory before starting ROS nodes. This is a temporary workaround; investigate the read-only /home/ssu/.ros/log cause separately.

Use this order:

mkdir -p /tmp/ros2_logs
touch /tmp/ros2_logs/test_write
export ROS_LOG_DIR=/tmp/ros2_logs
source /opt/ros/humble/setup.bash

Confirm the local Humble static_transform_publisher accepts named arguments:

ros2 run tf2_ros static_transform_publisher --help

Start virtual Doosan

Run the Doosan virtual bringup first:

mkdir -p /tmp/ros2_logs
touch /tmp/ros2_logs/test_write
export ROS_LOG_DIR=/tmp/ros2_logs
source /opt/ros/humble/setup.bash
ros2 launch dsr_bringup2 dsr_bringup2_moveit.launch.py model:=m0609 mode:=virtual host:=127.0.0.1 port:=12345

This is a dry-run environment. It does not prove real robot calibration, workspace safety, RG2 behavior, or physical reachability.

Optional dry-run static TF

If no measured hand-eye TF is available, publish a temporary static transform only for TF graph debugging:

mkdir -p /tmp/ros2_logs
touch /tmp/ros2_logs/test_write
export ROS_LOG_DIR=/tmp/ros2_logs
source /opt/ros/humble/setup.bash
ros2 run tf2_ros static_transform_publisher \
  --x 0.0 --y 0.0 --z 0.0 \
  --roll 0.0 --pitch 0.0 --yaw 0.0 \
  --frame-id base_link \
  --child-frame-id camera_color_optical_frame

The placeholder static TF values in src/azas_bringup/config/calibration.yaml must not be used on the real robot. They are example values only, not measured calibration.

Camera dry-run launch

In a separate terminal, launch the current YOLO-to-floor-place path with a temporary static TF. The values below are placeholders for TF pipeline debugging only and must not be used for real robot execution:

mkdir -p /tmp/ros2_logs
touch /tmp/ros2_logs/test_write
export ROS_LOG_DIR=/tmp/ros2_logs
source /opt/ros/humble/setup.bash
source /home/ssu/Azas/install/setup.bash
ros2 launch azas_bringup yolo_to_floor_place.launch.py \
  publish_camera_base_tf:=true \
  source_frame:=camera_color_optical_frame \
  target_class_names:=cup,tumbler,bottle \
  selection_policy:=largest_bbox \
  depth_window_size:=7 \
  min_depth_m:=0.15 \
  max_depth_m:=2.0 \
  debug_pose_logging:=true \
  camera_base_tf_x:=0.0 \
  camera_base_tf_y:=0.0 \
  camera_base_tf_z:=0.0 \
  camera_base_tf_roll:=0.0 \
  camera_base_tf_pitch:=0.0 \
  camera_base_tf_yaw:=0.0 \
  allow_demo_tumbler_position_fallback:=false

Expected detector logs:

  • selected class is one of cup, tumbler, or bottle
  • if multiple detections pass confidence and class filters, the largest bbox area wins
  • bbox center pixel is ((xmin+xmax)/2, (ymin+ymax)/2)
  • depth is the median of valid depth values in the depth_window_size window
  • depth is rejected if it is zero, NaN, inf, below min_depth_m, or above max_depth_m
  • depth scale is selected from the depth image encoding in depth_scale_mode=auto: 16UC1/mono16 use millimeter scale 0.001, and 32FC1 uses meter scale 1.0
  • projected camera point is logged in camera_color_optical_frame
  • transformed pose is logged and published only when TF to base_link succeeds

Confirm the live aligned-depth encoding before trusting projected camera points:

ros2 topic echo --once /camera/camera/aligned_depth_to_color/image_raw | grep encoding

The bridge may use latest TF when a detection stamp is zero, and can optionally retry latest TF when allow_latest_tf_fallback:=true. That fallback is for diagnosing timestamp problems only; it does not prove real-motion readiness.

Inspect TF

Check whether base_link can transform to the camera optical frame:

mkdir -p /tmp/ros2_logs
touch /tmp/ros2_logs/test_write
export ROS_LOG_DIR=/tmp/ros2_logs
source /opt/ros/humble/setup.bash
ros2 run tf2_ros tf2_echo base_link camera_color_optical_frame

Write a TF graph snapshot:

mkdir -p /tmp/ros2_logs
touch /tmp/ros2_logs/test_write
export ROS_LOG_DIR=/tmp/ros2_logs
source /opt/ros/humble/setup.bash
ros2 run tf2_tools view_frames

Expected dry-run result: base_link and camera_color_optical_frame appear in one connected tree. If tf2_echo cannot resolve the transform, stop before running any pose-to-motion path.

Inspect tumbler pose topics

List TF, tumbler, camera, and YOLO topics:

mkdir -p /tmp/ros2_logs
touch /tmp/ros2_logs/test_write
export ROS_LOG_DIR=/tmp/ros2_logs
source /opt/ros/humble/setup.bash
ros2 topic list | grep -E "tf|tumbler|camera|yolo"

Watch the pose consumed by the current floor-place bridge:

mkdir -p /tmp/ros2_logs
touch /tmp/ros2_logs/test_write
export ROS_LOG_DIR=/tmp/ros2_logs
source /opt/ros/humble/setup.bash
ros2 topic echo /jarvis/tumbler_dispenser/tumbler_pose

Expected dry-run result: the pose header frame is either directly in the base_link tree or has a resolvable TF path to base_link; the published /jarvis/tumbler_dispenser/tumbler_pose message must have header.frame_id: base_link. If the pose is missing, stale, or in an unconnected frame, keep the system in no-motion mode.

Stop conditions

  • Stop if tf2_echo cannot resolve base_link -> camera_color_optical_frame.
  • Stop if /jarvis/tumbler_dispenser/tumbler_pose is absent or stale.
  • Stop if the pose frame is not exactly base_link.
  • Stop if calibration.yaml still contains null or unconfirmed real robot calibration values.
  • Do not replace measured hand-eye calibration with example static TF values.
  • Do not treat latest-TF fallback success as measured hand-eye calibration.
  • Do not connect real robot execution, RG2 control, or PickAndAlignActionServer execution while using placeholder TF values.