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Centre-for-Biorobotics / eeUVsim_Gazebo

ROS2 gazebo simulator for underwater robots, including robot model, dynamics, controller, RL stuffs.
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Referencing other (private) repository for launching microCAT hardware-in-the-loop simulation #3

Closed RozaGkliva closed 2 months ago

RozaGkliva commented 2 months ago

https://github.com/Centre-for-Biorobotics/eeUVsim_Gazebo/blob/3a6a39ae495fc0243348ea810a23f0b748585938/eeuv_sim/launch/connect_microCAT.launch.py#L14

uw_gazebo isn't publicly available, right? There's a similar issue in spawn_UCAT.launch.py

hama6767 commented 2 months ago

( because of early stage update, the main branch was directly updated) As you said, some launch file and scripts still find different repository. Now I updated and double checked them to make sure correct package are conectted in this commit https://github.com/Centre-for-Biorobotics/eeUVsim_Gazebo/commit/02bb8dbf5b489a77da73c5f942e467308eddee20. Now it seems to be fine.

hama6767@hamanote:~$ ros2 launch eeuv_sim spawn_LAUV.launch.py 
[INFO] [launch]: All log files can be found below /home/hama6767/.ros/log/2024-09-16-09-46-38-560775-hamanote-531592
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gazebo-1]: process started with pid [531593]
[INFO] [robot_state_publisher-2]: process started with pid [531595]
[INFO] [spawn_entity.py-3]: process started with pid [531597]
[INFO] [pressure.py-4]: process started with pid [531599]
[INFO] [AUVMotion.py-5]: process started with pid [531601]
[INFO] [wingDynamics.py-6]: process started with pid [531603]
[INFO] [moveThruster.py-7]: process started with pid [531605]
[INFO] [moveWing.py-8]: process started with pid [531607]
[robot_state_publisher-2] [WARN] [1726469198.975346238] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-2] [INFO] [1726469198.977602508] [robot_state_publisher]: got segment base_link
[INFO] [wingDynamics.py-6]: process has finished cleanly [pid 531603]
[pressure.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/node.py:441: UserWarning: when declaring parameter named 'robot_model', declaring a parameter only providing its name is deprecated. You have to either:
[pressure.py-4]     - Pass a name and a default value different to "PARAMETER NOT SET" (and optionally a descriptor).
[pressure.py-4]     - Pass a name and a parameter type.
[pressure.py-4]     - Pass a name and a descriptor with `dynamic_typing=True
[pressure.py-4]   warnings.warn(
[gazebo-1] Gazebo multi-robot simulator, version 11.10.2
[gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-1] Released under the Apache 2 License.
[gazebo-1] http://gazebosim.org
[gazebo-1] 
[spawn_entity.py-3] [INFO] [1726469199.720569948] [spawn_entity]: Spawn Entity started
[spawn_entity.py-3] [INFO] [1726469199.721299675] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-3] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-3]   warnings.warn(
[spawn_entity.py-3] [INFO] [1726469199.726404102] [spawn_entity]: Waiting for entity xml on robot_description
[gazebo-1] Gazebo multi-robot simulator, version 11.10.2
[gazebo-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gazebo-1] Released under the Apache 2 License.
[gazebo-1] http://gazebosim.org
[gazebo-1] 
[spawn_entity.py-3] [INFO] [1726469199.737666189] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-3] [INFO] [1726469199.738469420] [spawn_entity]: Waiting for service /spawn_entity
[AUVMotion.py-5] [INFO] [1726469199.745382584] [auv_motion]: LAUV model is selected
[moveWing.py-8] [INFO] [1726469199.750833057] [moveWing]: Wing movement node has been initialized
[pressure.py-4] [INFO] [1726469200.717094087] [simulated_pressure_sensor]: Service not available, waiting again...
[AUVMotion.py-5] [INFO] [1726469200.775090571] [auv_motion]: Service not available, waiting again...
[gazebo-1] [Wrn] [ODEPhysics.cc:215] Gravity vector is (0, 0, 0). Objects will float.
[pressure.py-4] [INFO] [1726469201.719116468] [simulated_pressure_sensor]: Service not available, waiting again...
[spawn_entity.py-3] [INFO] [1726469201.747529073] [spawn_entity]: Calling service /spawn_entity
[AUVMotion.py-5] [INFO] [1726469201.777058324] [auv_motion]: Service not available, waiting again...
[gazebo-1] [INFO] [1726469202.031920787] [gazebo.gazebo_ros_state]: Publishing states of gazebo models at [/gazebo/model_states]
[gazebo-1] [INFO] [1726469202.032912554] [gazebo.gazebo_ros_state]: Publishing states of gazebo links at [/gazebo/link_states]
[spawn_entity.py-3] [INFO] [1726469202.070943965] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [LAUV]
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 531597]
hama6767 commented 2 months ago

Some fucion and value name still following previous simulator, it potentially misleading and confusing as OSS. We should keep to take care the these things for a while.