search

ROBOTIS-GIT / turtlebot3_simulations

Simulations for TurtleBot3
http://turtlebot3.robotis.com/
Apache License 2.0
329 stars 434 forks source link

Unable catkin_make when I wanted to simulate with turtlebot3. #174

Closed nfhe closed 2 years ago

nfhe commented 2 years ago

I want to simulate with turtlebot3 to check my algorithm.I downloaded the turtlebot3simulations and catkin make, but there is a problem, can you help me solve it? Thanks a lot.

` CMake Error at /home/he/miniconda3/envs/torch-he/lib/python3.7/site-packages/cmake/data/share/cmake-3.21/Modules/FindPackageHandleStandardArgs.cmake:230 (message): Could NOT find Protobuf (missing: Protobuf_INCLUDE_DIR) Call Stack (most recent call first): /home/he/miniconda3/envs/torch-he/lib/python3.7/site-packages/cmake/data/share/cmake-3.21/Modules/FindPackageHandleStandardArgs.cmake:594 (_FPHSA_FAILURE_MESSAGE) /home/he/miniconda3/envs/torch-he/lib/python3.7/site-packages/cmake/data/share/cmake-3.21/Modules/FindProtobuf.cmake:650 (FIND_PACKAGE_HANDLE_STANDARD_ARGS) robot_track/turtlebot3_simulations/turtlebot3_gazebo/CMakeLists.txt:24 (find_package)

-- Configuring incomplete, errors occurred! See also "/home/he/catkin_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/he/catkin_ws/build/CMakeFiles/CMakeError.log". `

ROBOTIS-Ashe commented 2 years ago

Hi @nfhe. It seems to be an error that occurs because the Protobuf compiler is not installed. Please refer to this link, I think it will help you with the solution Thank you.

nfhe commented 2 years ago

Hi,@ashekim.

I have solved this problem, but when I load the gazebo environment. roslaunch turbo 3 gazebo turtlebot3 empty_ World. Launch. There is only environment, but there is no robot model. I want to ask, how should this problem be solved? thank you very much

(rostorch) he@he-Lenovo-Legion-R7000P2020H:~/catkin_ws$ roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch ... logging to /home/he/.ros/log/159b3802-4b95-11ec-830b-8c8caa32777f/roslaunch-he-Lenovo-Legion-R7000P2020H-17510.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://he-Lenovo-Legion-R7000P2020H:33325/

SUMMARY

PARAMETERS

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) spawn_urdf (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [17525] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 159b3802-4b95-11ec-830b-8c8caa32777f process[rosout-1]: started with pid [17536] started core service [/rosout] process[gazebo-2]: started with pid [17542] process[gazebo_gui-3]: started with pid [17548] process[spawn_urdf-4]: started with pid [17552]

ROBOTIS-Ashe commented 2 years ago

@nfhe. Hi again. To run turtlebot3 gazebo, you need to install additional packages besides turtlebot3_simulation. Please refer to the link to install the package. Then run gazebo. Thank you.

nfhe commented 2 years ago

Hi, @ashekim thank you for your reply. I may not have described the problem clearly.

First of all thank you for integrating ROS with Conda, ROS is noetic. I have followed your instruction to setup Conda env, which called "rostorch". However, here I face some problems when I use TurtleBot3 but Gazebo can't display the robot.The details are given below.

Problem Description: I load the filehttps://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#gazebo-simulation.I have turtlebot3,turtlebot3_msgs and turtlebot3_simulations in catkin_ws.When I start the gazebo simulation using the tutorial, there are no error warnings, but there is no robot model in the gazebo environment

Here are my detailed operations 1.conda activate rostorch 2.cd catkin_ws 3.catkin_make 4.source devel/setup.bash 5.export TURTLEBOT3_MODEL=waffle 6.roslaunch turtlebot3_gazebo turtlebot3_world.launch

Terminal display ... logging to /home/he/.ros/log/42dd6c9c-4c0b-11ec-bfb7-8c8caa32777f/roslaunch-he-Lenovo-Legion-R7000P2020H-12831.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://he-Lenovo-Legion-R7000P2020H:43655/

SUMMARY PARAMETERS

/gazebo/enable_ros_network: True /robot_description: <?xml version="1.... /rosdistro: noetic /rosversion: 1.15.9 /use_sim_time: True NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) spawn_urdf (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [12844] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 42dd6c9c-4c0b-11ec-bfb7-8c8caa32777f process[rosout-1]: started with pid [12855] started core service [/rosout] process[gazebo-2]: started with pid [12859] process[gazebo_gui-3]: started with pid [12865] process[spawn_urdf-4]: started with pid [12871].

rostopic list

when I use roslaunch turtlebot3_gazebo turtlebot3world.launch,the rostopic list only has / clock / rosout / rosout agg.

End

I found two and didn't know where the problem was. I look forward to your reply.

Thank you

nfhe commented 2 years ago

Hi, @ashekim thank you for your reply. I may not have described the problem clearly.

First of all thank you for integrating ROS with Conda, ROS is noetic. I have followed your instruction to setup Conda env, which called "rostorch". However, here I face some problems when I use TurtleBot3 but Gazebo can't display the robot.The details are given below.

Problem Description: I load the filehttps://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#gazebo-simulation.I have turtlebot3,turtlebot3_msgs and turtlebot3_simulations in catkin_ws.When I start the gazebo simulation using the tutorial, there are no error warnings, but there is no robot model in the gazebo environment

Here are my detailed operations 1.conda activate rostorch 2.cd catkin_ws 3.catkin_make 4.source devel/setup.bash 5.export TURTLEBOT3_MODEL=waffle 6.roslaunch turtlebot3_gazebo turtlebot3_world.launch

Terminal display ... logging to /home/he/.ros/log/42dd6c9c-4c0b-11ec-bfb7-8c8caa32777f/roslaunch-he-Lenovo-Legion-R7000P2020H-12831.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://he-Lenovo-Legion-R7000P2020H:43655/

SUMMARY PARAMETERS

/gazebo/enable_ros_network: True /robot_description: <?xml version="1.... /rosdistro: noetic /rosversion: 1.15.9 /use_sim_time: True NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) spawn_urdf (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [12844] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 42dd6c9c-4c0b-11ec-bfb7-8c8caa32777f process[rosout-1]: started with pid [12855] started core service [/rosout] process[gazebo-2]: started with pid [12859] process[gazebo_gui-3]: started with pid [12865] process[spawn_urdf-4]: started with pid [12871].

rostopic list

when I use roslaunch turtlebot3_gazebo turtlebot3world.launch,the rostopic list only has / clock / rosout / rosout agg.

End

I found two and didn't know where the problem was. I look forward to your reply.

Thank you

ROBOTIS-Ashe commented 2 years ago

Hi. @nfhe. i See. When I entered this command, I got the following result

image

Have you changed ROS_MASTER_URI and ROS_HOSTNAME to your ip in your bashrc file? If not, please refer to the link and edit the bashrc file. And it would be appreciated if you let us know the test result after running Gazebo

nfhe commented 2 years ago

Hi, @ashekim

Thank you very much for your reply.

I have tried your method. After configuring the network, I still encounter the same problem. When I run **roslaunch turnbot3 gazebo turtlebot3 AHi, @ashekim

Thank you very much for your reply.

I have tried your method. After configuring the network, I still encounter the same problem. When I run roslaunch turnbot3 gazebo turtlebot3 After world.launch, I didn't receive any errors, but there was no robot model in gazebo, and only / clock / rosout / rosout in rostopic list, I hope you can help me solve such a bug again.

Terminal display

... logging to /home/he/.ros/log/2c49622c-4c5d-11ec-b511-8c8caa32777f/roslaunch-he-Lenovo-Legion-R7000P2020H-4665.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://192.168.0.111:33505/

SUMMARY

PARAMETERS

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) spawn_urdf (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [4678] ROS_MASTER_URI=http://192.168.0.111:11311

setting /run_id to 2c49622c-4c5d-11ec-b511-8c8caa32777f process[rosout-1]: started with pid [4689] started core service [/rosout] process[gazebo-2]: started with pid [4692] process[gazebo_gui-3]: started with pid [4697] process[spawn_urdf-4]: started with pid [4701]

Thank you again for your reply.

ROBOTIS-Will commented 2 years ago

Hi @nfhe

I'm afraid that our documentation is written based on an official Ubuntu + ROS environment, and we can't guarantee whether our test results will work or not under specific environments such as conda. I'd recommend to search for more resources in the community for running ROS in conda environment.

Thank you.

nfhe commented 2 years ago

Hi， @ROBOTIS-Will

Thank you very much for your reply. I will try to use other models on gazebo. If there are new results, I will feed back the results to you.

thank you.

nfhe commented 2 years ago

Hi， @ROBOTIS-Will

Thank you very much for your reply. I will try to use other models on gazebo. If there are new results, I will feed back the results to you.

thank you.

nfhe commented 2 years ago

@ashekim Hi,again.

I have solved the problem that the robot model cannot be displayed in gazebo, there is no error and the problem of protocol version conflict. I uninstalled protocol 3.15.0 and installed protocol 3.13.0. This problem is solved.

Thank you again for answering so many questions.

ROBOTIS-Ashe commented 2 years ago

Hi. @nfhe I would greatly appreciate it. I Hope you have fun with turtlebot3. And have a nice day! :)