SMB simulation issues

[JALin2000]

Hi,

I run ROS Noetic on Ubuntu 20.04 and I choose to configure the SMB Core Software. However I meet some problems in the simulation part. They might seem silly... But I would be more than grateful if somebody can help me with these :)

• I have followed all the instructions in "Core Software Setup"

• I have checked the open & closed issues, but they did not solve my problem.

When I run

roslaunch smb_gazebo sim.launch launch_gazebo_gui:=true world:=WaA

and

roslaunch smb_gazebo sim.launch launch_gazebo_gui:=true keyboard_teleop:=true

# in another command tab, with ros-noetic-teleop-twist-keyboard already installed
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

to try to control the robot with the keyboard, (1) The world in RViz is not loaded, (2) The keyboard control is not activated.

Some relative screen shots are as follows:

I think the problem of the world not loaded is due to the missing model.config.

However, I have no idea why the keyboard control is not activated. Actually it just gets stuck after I press enter at the end of the command line, no matter the simulation is on or not. I also check the rosnode after it gets stuck, but no keyboard control related node is present. Moreover, I try the fix in issue #24 , but it doesn't work for me...

Thanks in advance if somebody can help me with this!

Best, Junan

[JALin2000]

Also, in the "Autonomous Navigation in Simulation" part, I neither get the map of the obstacles in RViz...

[daBaret]

Hi Junan, thanks for reaching out. Could you give a look at issue #33 ? Let me know if it works.

Have a nice day, Davide

[JALin2000]

Hello Davide, I have checked that issue before, but it didn't help. These are some related results:

The third picture is the result of running

roslaunch smb_gazebo sim.launch launch_gazebo_gui:=true world:=planner_tutorial tracking_camera:=true

While the fourth is the result of running

roslaunch smb_navigation navigate2d_ompl.launch sim:=true global_frame:=tracking_camera_odom

[daBaret]

Probably you have to wait after launching smb_gazebo. The first time it takes quite long.

It looks like your simulation is not starting properly. Could you try to catkin clean and to build smb_gazebo again?

[JALin2000]

Probably you have to wait after launching smb_gazebo. The first time it takes quite long.

It looks like your simulation is not starting properly. Could you try to catkin clean and to build smb_gazebo again?

I wait before running smb_navigation, and catkin clean and rebuild smb_gazebo, but things go same as before. I think probably there are some internal configuration bugs, which are really difficult to find... Maybe it would be better to debug onsite later :) Anyway thanks for your help!

[erencanbulut]

Hello, I am one of RobotX Summer School participants.

Sorry to interrupt the conversation. I had the same issue and solved it. Just wanted to share:

After terminate the current gazebo simulation, run the following command to check if there are any existing Gazebo processes running: ps aux | grep gzserver If you see any processes listed, then, you can use this command to terminate them: killall -9 gzserver

[JALin2000]

Hello, I am one of RobotX Summer School participants.

Sorry to interrupt the conversation. I had the same issue and solved it. Just wanted to share:

After terminate the current gazebo simulation, run the following command to check if there are any existing Gazebo processes running: ps aux | grep gzserver If you see any processes listed, then, you can use this command to terminate them: killall -9 gzserver

Thanks a lot for your reply! The problem in my case is the conda environment. I finally stop using conda virtualenv and re-configure the workspace, and the problem just automatically disappears.