Closed lliendo closed 1 year ago
Please only run the commands in the "Gazebo demo (existing map)" section of the README. You are trying to run commands from the mir_driver package in simulation, but that package is only for the real robot.
By the way, the README is very well tested, so if you feel that you have to deviate from it, chances are that you're doing something wrong. :)
And if you find that the instructions are unclear (such as in this case), feel free to improve them and send a pull request, or tell me what was unclear so I can improve it. Feedback from actual users is always very valuable!
Hi,
I'm trying to run the Gazebo simulator but there are things that are not running as expected.
ros-noetic-rosbridge-server
package seems to be missing although the README.md states that installing theros-noetic-mir-robot
package is enough to get up and running. Here's a copy of the error that I'm getting when launchingroslaunch mir_driver mir.launch
:It seems that first I need to run:
roslaunch rosbridge_server rosbridge_websocket.launch
after doingapt-get install ros-noetic-rosbridge-server
.Second issue. The above IP (192.168.12.20) is hardcoded in
/opt/ros/noetic/share/mir_driver/launch/mir.launch
. I don't understand why that particular IP has been chosen, but in the docs that is not mentioned. I'm assuming that after I've launched therosbridge_server
(which by default is listening on 0.0.0.0:9090) I need to update this configuration to be:<arg name="mir_hostname" default="127.0.0.1" />
but not 100% sure about this. However I can succesfully launch both processes so far.Third issue. The console that is running the
roslaunch mir_driver mir.launch
is being flooded at a very high rate (actually my CPU load skyrockets after launching it) with these messages:At this point even though my computer's load starts to increase for no reason I move on. I do not see any errors beside the INFO messages.
Now I proceed with the commands explained in "Gazebo demo (existing map)" of the README file.
The following steps take place in my environment (not in Docker, what I've shown so far is running on a noetic Docker image) in again a noetic environment. I was able to successfully build the project as explained. So in my environment after running
source /opt/ros/noetic/setup.bash
andsource ~/catkin_ws/devel/setup.bash
I launch:roslaunch mir_gazebo mir_maze_world.launch
androsservice call /gazebo/unpause_physics
. Gazebo gets opened along with a UI where you are supposed to control the robot. Clicking on the UI to try to move the robot nothing happens, the robot is still in its original position in the Gazebo virtual environment.The output for the
roslaunch mir_gazebo mir_maze_world.launch
is this:Note the:
messages. I don't know if that is correct/incorrect or expected behaviour. Besides that the robot is not moving in the console where I'm running the
rosbridge_server
process I get these errors:At this stage it's clear that either I'm doing something wrong, or some steps from the documentation are missing, or both or something else is going on... Unfortunately I'm not that experienced with ROS so is not easy to spot what the issue could be. As previously stated I'm running
roslaunch rosbridge_server rosbridge_websocket.launch
androslaunch mir_driver mir.launch
in a dockernoetic
container (the docker container is launched with the--network host
option so I can communicate with those services from my regular environment) and the Gazebo environment is run outside docker. Any help is much appreciated.Thanks, Lucas.