Documentation to use this repo

[chcorbato]

Could you please add some info of what is in this repo and how to use it in the README?

[darkobozhinoski]

Hi guys,

can you please add a section of dependencies/requirements in the documentation? I try to follow the instructions, but I am getting the following error:

In file included from 
../ros2_eloquent/src/BICA/bica_graph/include/bica_graph/Graph.hpp:23:0,
                 from /home/darko/ros2_eloquent/src/BICA/bica_graph/src/bica_graph/Graph.cpp:26:

../ros2_eloquent/src/BICA/bica_graph/include/bica_graph/Types.hpp:18:10: fatal error: 
tf2_geometry_msgs/tf2_geometry_msgs.h: No such file or directory
---
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
compilation terminated.
make[2]: *** [CMakeFiles/bica_graph.dir/src/bica_graph/Graph.cpp.o] Error 1
make[1]: *** [CMakeFiles/bica_graph.dir/all] Error 2
make: *** [all] Error 2
---
Failed   <<< bica_graph [ Exited with code 2 ]
Aborted  <<< tf2_kdl                                      
Aborted  <<< ros2bag                                      
Aborted  <<< logging_demo                                 
Aborted  <<< bica                                         
Aborted  <<< dwb_msgs                                     
Aborted  <<< plansys2_msgs                                
Aborted  <<< nav2_msgs                                                       

Summary: 232 packages finished [9min 7s]
  1 package failed: bica_graph

[jginesclavero]

Hi @darkobozhinoski, I have added a command to solve the dependencies in the README. Try to execute rosdep install --from-paths src --ignore-src -r -y from your ros2_ws path.

[fmrico]

Hi @darkobozhinoski

This dependency is quite straightforward. Do an apt-cache search tf2-geometry-msgs to guess which package you should install. Probably ros-eloquent-tf2-geometry-msgs

Hope it helps ;)

[fmrico]

@jginesclavero this dep os not declared in bica_graph package. Could you add it?

[darkobozhinoski]

Hi guys,

I am still getting the error. I installed ros2 from sources. When I do: locate tf2_geometry_msgs.h I get the following output.

/home/darko/ros2_dashing/src/ros2/geometry2/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h
/home/darko/ros2_eloquent/install/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h
/home/darko/ros2_eloquent/src/ros2/geometry2/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h
/opt/ros/eloquent/include/tf2_geometry_msgs/tf2_geometry_msgs.h

[fmrico]

Hi @darkobozhinoski

A dependency was missing in bica_graph. Do a pull and try again.

Best

[darkobozhinoski]

Thank you. That worked well for turtlebot 3. I have two questions. When I run the example for turtlebot3, I need to source ros2 for both the binaries and the workspace? If not, I am unable to run the meta-controller and the system modes, plus the global status in Rviz gives me an error: Frame /map does not exist. In other words I need: source ~/ros2_eloquent/install/setup.bash and source /opt/ros/eloquent/install/setup.bash Do you know if I can use only the source from the workspace, and how can I do that?

2. In order to run on turtlebot 2, I need to use the package gb_robots. As I see, it is a catkin package. Should I install it in a ros1 workspace, in that case, should I install ros1 as well? Can you please help me here a little bit.

[darkobozhinoski]

In the dependencies for system modes, you have https://github.com/IntelligentRoboticsLabs/ros2_planning_system, while there is not declared dependency to https://github.com/micro-ROS/system_modes. I think that could be a reason for the need to use /opt/ros/eloquent/setup.bash as I had system modes installed from binaries. Could you please let me know why do you use this dependency: https://github.com/IntelligentRoboticsLabs/ros2_planning_system for system modes?

[chcorbato]

Thank you. That worked well for turtlebot 3. I have two questions. When I run the example for turtlebot3, I need to source ros2 for both the binaries and the workspace? If not, I am unable to run the meta-controller and the system modes, plus the global status in Rviz gives me an error: Frame /map does not exist. In other words I need: source ~/ros2_eloquent/install/setup.bash and source /opt/ros/eloquent/install/setup.bash Do you know if I can use only the source from the workspace, and how can I do that?

This is weird. To my understanding, you should use either the ROS2 source installation (preferably I think for any MROS related work) OR the binaries, but not both.

Also, regarding what to source check the Note in this ROS2 tutorial:

Sourcing the local_setup of the overlay will only add the packages available in the overlay to your environment. setup sources the overlay as well as the underlay it was created in, allowing you to utilize both workspaces. So, sourcing your main ROS 2 installation’s setup and then the dev_ws overlay’s local_setup, like you just did, is the same as just sourcing dev_ws’s setup, because that includes the environment of the underlay it was created in.