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Field-Robotics-Lab / dave

Project DAVE
Apache License 2.0
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Update URDF xacros #201

Closed Yadunund closed 2 years ago

Yadunund commented 2 years ago

Fix #200

To reproduce the problem on master:

  1. Upgrade to the latest xacro package using the command sudo apt install --only-upgrade ros-noetic-xacro. You can then run dpkg -l | grep ros-noetic-xacro to view the version of the xacro binary. It should be greater than 1.14.10.
  2. Source noetic and build the workspace using catkin build or catkin_make
  3. Source the workspace and run roslaunch dave_demo_launch dave_demo.launch. This should lead to the error described in the linked ticket.

To test the fix:

  1. Checkout to this branch
  2. Build the workspace
  3. Source the workspace and launch the demo. The simulation should launch successfully.
j-herman commented 2 years ago

@Yadunund With ros-noetic-xacro 1.14.13-1focal.20220212.160007, I am getting different errors than what you're reporting:

xacro: in-order processing became default in ROS Melodic. You can drop the option. redefining global symbol: range when instantiating macro: pressure_plugin_macro (/home/jessica/uuv_ws/src/uuv_simulator/uuv_sensor_plugins/uuv_sensor_ros_plugins/urdf/pressure_snippets.xacro) instantiated from: default_pressure_macro (/home/jessica/uuv_ws/src/uuv_simulator/uuv_sensor_plugins/uuv_sensor_ros_plugins/urdf/pressure_snippets.xacro) instantiated from: rexrov_base (/home/jessica/uuv_ws/src/dave/urdf/robots/rexrov_description/urdf/rexrov_base.xacro) in file: /home/jessica/uuv_ws/src/dave/urdf/robots/rexrov_description/urdf/rexrov_sensors.xacro included from: /home/jessica/uuv_ws/src/dave/urdf/robots/rexrov_description/urdf/rexrov_oberon7.xacro

The robot_description loads and runs fine. I do remember seeing the namespace errors at some point while I was troubleshooting another issue yesterday but it seems to be resolved on my system. It looks like the namespace issues were addressed (see changelog in 1.14.13 - can you give it a shot with the new version and see if we still need the fix?

Yadunund commented 2 years ago

@j-herman you're right, v1.14.13 fixes the regression bug and looks like it was synced just 22hrs ago! https://discourse.ros.org/t/preparing-for-noetic-sync-2022-02-14/24313

No wonder when I updated the package earlier yesterday, it was on v1.14.11 😅

I'll close this PR.

j-herman commented 2 years ago

That must have broken a lot of code to get fixed so quickly!

mabelzhang commented 2 years ago

Dang, thanks for all the work @Yadunund!!