Problem with navigation2 and bringup example with turtlebot3 gazebo sim

MROS-RobMoSys-ITP / mros_navigation2

ROS2 Navigation

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Problem with navigation2 and bringup example with turtlebot3 gazebo sim #7

Closed chcorbato closed 4 years ago

chcorbato commented 4 years ago

I'm trying to get navigation2 running, and I'm almost there but I do not see anything in RVIz when trying the bringup example with turtlebot3

No messages on Topic map are received I think the problem can be related to this WARNING in the terminal where I launched navigation2

[planner_server-5] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[planner_server-5]          at line 133 in /home/chcorbato/ros2_eloquent/src/ros2/geometry2/tf2/src/buffer_core.cpp

I have followed the instructions to install ros2 and navigation2 from sources
- from the previous instructions I have also installed tutlebot3 from sources

Any help is welcome!

Also, if any of you have a running setup of navigation 2 with gazebo, please feel free to share.

Carlos

fmrico commented 4 years ago

Hi Carlos,

Yes, it is a little bit confusing at initial ;)

Launch navigation. I useros2 launch nav2_bringup nav2_tb3_simulation_launch.py
In RViz, push startup button
Set initial pose of the robot using the "2D Pose Estimate" in the toolbar

Good luck!!

chcorbato commented 4 years ago

Thanks @fmrico ! Getting there, now debugging why my turtlebot is a waffle too thin :-D Screenshot from 2019-12-06 09-26-08

fmrico commented 4 years ago

Hi!!

Did you download and set up the models?

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:<full/path/to/my_robot/models> gazebo --verbose -s libgazebo_ros_init.so <full/path/to/my_gazebo.world>

Best!!!

chcorbato commented 4 years ago

Thanks, I was using this path for the models: export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_ws/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models now using: export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/home/chcorbato/turtlebot3_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models the turtlebot3 shows up correctly in gazebo

I'm still fighting issues setting up navigation, @fmrico @jginesclavero @lbajo do you have some written instructions to try navigation2? maybe with a Thiago simulation?

fmrico commented 4 years ago

Right now, ii's adding more documentation to navigation2. They have added this getting started.

Give us more details about your issues, please. We are not running navigation2 with Tiago simulator. We could try it next week.