Closed ahcorde closed 2 years ago
Just a note, the models in the world are all black because the turtlebot3_world
model defines materials using the <script>
tag. This could be easily fix using the following this kind of materials:
<material>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
</material>
This will be compatible with gazebo classic
@ahcorde Thanks for letting me know how to change the turtlebot3_world model color. I tested your package, and I found that in my environment the TF error appeared. Attached is the image below for detailed explanation.
Test environment ROS version : ROS2 Galactic Install Ignition Gazebo : libignition-gazebo6-dev
the results of running ignition.launch.py
the results of running the original way gazebo launch file.
When ignition.launch.py was executed, odom TF were not created. I think I need more time to check this issue. thank you.
uhmm, can you see any errors in the terminal ?
My guess is that ign_ros2_control is not being loaded. I can see all transforms;
I have updated the package.xml
with all the required dependencies.
@ahcorde Thanks for the quick reply. I downloaded the ign_ros2_control package to github and built it. When I ran it, I could see the ignition gazebo launch screen quit.
Am i missing something? In addition, attaching my log file below.
1644815508.2398326 [INFO] [launch]: All log files can be found below /home/ashekim/.ros/log/2022-02-14-14-11-48-237103-ashekim-146596 1644815508.2401421 [INFO] [launch]: Default logging verbosity is set to INFO 1644815508.9465647 [INFO] [cmd_republisher-1]: process started with pid [146642] 1644815508.9468038 [INFO] [static_transform_publisher-2]: process started with pid [146644] 1644815508.9469392 [INFO] [create-3]: process started with pid [146646] 1644815508.9470546 [INFO] [create-4]: process started with pid [146648] 1644815508.9472153 [INFO] [ign gazebo-5]: process started with pid [146650] 1644815508.9473505 [INFO] [parameter_bridge-6]: process started with pid [146652] 1644815508.9474788 [INFO] [parameter_bridge-7]: process started with pid [146655] 1644815508.9476585 [INFO] [parameter_bridge-8]: process started with pid [146657] 1644815508.9478323 [INFO] [robot_state_publisher-9]: process started with pid [146659] 1644815508.9480026 [INFO] [spawner.py-10]: process started with pid [146661] 1644815508.9481709 [INFO] [rviz2-11]: process started with pid [146680] 1644815508.9502733 [static_transform_publisher-2] [INFO] [1644815508.945508270] [static_transform_publisher]: Spinning until killed publishing transform from 'base_scan' to 'waffle_pi/base_footprint/hls_lfcd_lds' 1644815509.1391678 [spawner.py-10] [INFO] [1644815509.138914105] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services 1644815509.7727187 [INFO] [create-3]: process has finished cleanly [pid 146646] 1644815509.7762702 [INFO] [create-4]: process has finished cleanly [pid 146648] 1644815510.7242894 [INFO] [ign gazebo-5]: process has finished cleanly [pid 146650] 1644815511.1474473 [spawner.py-10] [INFO] [1644815511.147212009] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services 1644815513.1577702 [spawner.py-10] [INFO] [1644815513.157570411] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services 1644815515.1678374 [spawner.py-10] [INFO] [1644815515.167614824] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services 1644815517.1814067 [spawner.py-10] [INFO] [1644815517.180738076] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services 1644815519.1941199 [spawner.py-10] [INFO] [1644815519.193796494] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services 1644815519.3637755 [WARNING] [launch]: user interrupted with ctrl-c (SIGINT) 1644815519.3745165 [static_transform_publisher-2] [INFO] [1644815519.362828625] [rclcpp]: signal_handler(signal_value=2) 1644815519.3764706 [cmd_republisher-1] [INFO] [1644815519.362854361] [rclcpp]: signal_handler(signal_value=2) 1644815519.3767893 [spawner.py-10] /opt/ros/galactic/lib/controller_manager/spawner.py:204: DeprecationWarning: 'spawner.py' is deprecated, please use 'spawner' (without .py extension) 1644815519.3769250 [spawner.py-10] warnings.warn( 1644815519.3770068 [spawner.py-10] Traceback (most recent call last): 1644815519.3770764 [spawner.py-10] File "/opt/ros/galactic/lib/controller_manager/spawner.py", line 207, in
1644815519.3771501 [spawner.py-10] ret = main() 1644815519.3772497 [spawner.py-10] File "/opt/ros/galactic/lib/controller_manager/spawner.py", line 118, in main 1644815519.3773210 [spawner.py-10] if not wait_for_controller_manager(node, controller_manager_name, 1644815519.3773901 [spawner.py-10] File "/opt/ros/galactic/lib/controller_manager/spawner.py", line 60, in wait_for_controller_manager 1644815519.3774695 [spawner.py-10] time.sleep(0.2) 1644815519.3775332 [spawner.py-10] KeyboardInterrupt 1644815519.5693271 [INFO] [cmd_republisher-1]: process has finished cleanly [pid 146642] 1644815519.5695384 [INFO] [static_transform_publisher-2]: process has finished cleanly [pid 146644] 1644815519.5701797 [INFO] [robot_state_publisher-9]: process has finished cleanly [pid 146659] 1644815519.5716181 [ERROR] [spawner.py-10]: process has died [pid 146661, exit code -2, cmd '/opt/ros/galactic/lib/controller_manager/spawner.py joint_state_broadcaster --controller-manager /controller_manager --ros-args --params-file /tmp/launch_params_sp84lh0e']. 1644815519.7224233 [INFO] [rviz2-11]: process has finished cleanly [pid 146680] 1644815519.8607197 [WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
And the warning message appeared in the terminal :
[ign gazebo-5] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1 [ign gazebo-5] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain") [ign gazebo-5] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1 [ign gazebo-5] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain")
[rviz2-11] Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist [rviz2-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp [rviz2-11] Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist [rviz2-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp
These are the packages I installed to run this test. Are there any additional things I need to install?
sudo apt install libignition-gazebo6-dev
sudo apt install ros-galactic-ros-ign-*
git clone -b galactic https://github.com/ignitionrobotics/ign_ros2_control
Thank you.
I created a dockerfile to test it, create the two following files in an empty folder
run:
chmod +x entrypoint.sh
docker build -t ignition_turtblebot3 .
Install rocker with nvidia-docker2 support
Then you are ready to run:
rocker --x11 --nvidia --name ignition_turtblebot3 ignition_turtblebot3:latest
NOTE: To run SLAM or Navigation you should run ignition with this patch https://github.com/ignitionrobotics/ign-sensors/pull/195
The fix in ignition-gazebo is already released, this should be ready for a final review
ping @ashekim
@ahcorde Thanks for reminding me. I'm currently working on other work, so testing is being delayed. I will share the results after testing as soon as possible. Thank you!
Thanks @ahcorde I'm preparing an update of turtlebot3_simulations package. This will be included in the Galactic / Humble updates.
Super @ROBOTIS-Will,
let me know if you need something from me
Signed-off-by: ahcorde ahcorde@gmail.com
Related issue: https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/179
Open questions:
turtlebot3_gazebo
package. If I only want to install the ignition version we need to install all the gazebo classic dependencies.Test it
In another terminal, create the map:
When the map is ready, now you can navigate: