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Adlink-ROS / neuronbot2

NeuronBot2 is the newest version of NeuronBot made by Adlink, which fully supports ROS1 and ROS2.
Apache License 2.0
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A question about neuronbot2 SDF file in myself gezebo world #20

Open SilasYoome opened 3 years ago

SilasYoome commented 3 years ago

English is not my native language,sorry for any spelling mistakes.

The following is my development environment： ．Ubuntu 18.04 ．ROS Melodic Morenia ．Gazebo 9 ．neuronbot2 melodic-devel branches

I try to put the neuronbot2 SDF file in Gazebo world I created, but when I run the world roslaunch file I get the error:

[ WARN] [1612512193.870927121, 0.102000000]: missing <topicName>, set to /namespace/default: ///imu_data [FATAL] [1612512193.870970057, 0.102000000]: missing <frameName>, cannot proceed [FATAL] [1612512193.870993188, 0.102000000]: Error Loading Parameters! [ INFO] [1612512193.945489233, 0.102000000]: Starting plugin DiffDrive(ns = //) [ WARN] [1612512193.945560189, 0.102000000]: DiffDrive(ns = //): missing <rosDebugLevel> default is na [ INFO] [1612512193.946622894, 0.102000000]: DiffDrive(ns = //): <tf_prefix> = [ WARN] [1612512193.946689266, 0.102000000]: DiffDrive(ns = //): missing <commandTopic> default is cmd_vel etc...

And I run rostopic list , I only get /tf /tf_static and gazebo topic

How can I use keyboard_control and gmapping?

QQting commented 3 years ago

It's OK to speak Chinese here.

How do you include NeuronBot SDF into your Gazebo world? What's your launch file? Do you understand how we include those launch files in neuronbot2_world.launch?

SilasYoome commented 3 years ago

你好

這是我所建立ROS的Package：https://github.com/SilasYoome/Gazebo_world_test_neuronbot2.git

gazebo_world.launch為主要啟動的launch檔，啟動後會放入我自創的世界cat.world之中

在工作空間頁面roslaunch world_bringup gazebot_world.launch會出現上面所說的錯誤訊息

在將 NeuronBot SDF檔案中<link name="imu_link">, <plugin name='differential_drive_controller' filename='libgazebo_ros_diff_drive.so'>, <plugin name='neuronbot2_joint_state_right_wheel' filename='libgazebo_ros_joint_state_publisher.so'> <plugin name='neuronbot2_joint_state_lefft_wheel' filename='libgazebo_ros_joint_state_publisher.so'> 旗下的程式碼註解掉後錯誤訊息會消失

初步推論應該是gazebot插件造成的問題，或是可能與NeuronBot2中ROS的節點有關？

H-HChen commented 3 years ago

在測試過您的Package後，我們的設備無法重現您的錯誤，麻煩確認是否安裝gazebo所需要的Package，如gazebo-plugins。 另外，建議配合neuronbot2_description並在launch file中開啟robot_state_publisher，否則neuronbot2中各joint的tf不會被publish。