Open danzimmerman opened 2 years ago
Hey, thanks for the nice writeup!
I was wondering if you could try with Humble? We've gotten pretty far with the packages on Windows, there, too (almost at desktop-full
! :)
mamba create -n moveithumble ros-humble-moveit ros-humble-desktop -c robostack-humble -c conda-forge
We can probably rebuild a new version of ros-galactic-srdfdom
(assuming they've released this by now). If you want to, you could just make a PR that changes the vinca_win.yaml and mention srdfdom
to see if a new version pops up.
I just checked, and unfortunately I don't think they've released a new version of srdfdom into galactic yet.
The version in galactic is 2.0.3, and the good version is 2.0.4.
@danzimmerman - if you add the patch from https://github.com/ros-planning/srdfdom/pull/98 and open a PR here to rebuild srdfdom I'd be happy to merge, if you need to stick to galactic.
@wolfv This definitely is fixed in Humble... I'm now having this issue https://github.com/ros2/ros2cli/issues/637... are you seeing that?
@Tobias-Fischer Patching this for galactic
would be a good first patch for me... will try to work on it when I get a chance.
@wolfv This definitely is fixed in Humble... I'm now having this issue ros2/ros2cli#637... are you seeing that?
Never saw that, but looking at the references there was a fix in https://github.com/ros2/ros2cli/pull/686 that is in Foxy but not in Galactic: https://github.com/ros2/ros2cli/blob/galactic/ros2cli/ros2cli/node/daemon.py#L104 .
Yeah something's broken with the daemon or my network/firewall config. The daemon is now using daemon.get_xmlrpc_server_url()
instead of the Foxy fix
class DaemonNode:
def __init__(self, args):
self._args = args
self._proxy = ServerProxy(
daemon.get_xmlrpc_server_url(),
allow_none=True)
print(f'** DaemonNode._proxy was set to {daemon.get_xmlrpc_server_url()} **')
self._methods = []
@property
def connected(self):
try:
self._proxy.system.listMethods()
except ConnectionRefusedError:
print('*** Connection refused! ***')
return False
return True
Connection refused...
(humble) C:\Code\ros2\galactic_ws>
(humble) C:\Code\ros2\galactic_ws>ros2 daemon start
The daemon is already running
(humble) C:\Code\ros2\galactic_ws>ros2 daemon status
** DaemonNode._proxy was set to http://127.0.0.1:11528/ros2cli/ **
*** Connection refused! ***
The daemon is not running
(humble) C:\Code\ros2\galactic_ws>ros2 daemon start
The daemon is already running
(humble) C:\Code\ros2\galactic_ws>ros2 daemon stop
** DaemonNode._proxy was set to http://127.0.0.1:11528/ros2cli/ **
*** Connection refused! ***
The daemon is not running
I'll dig in to that better later.
Humble also still has this xacro
problem:
https://answers.ros.org/question/354579/ros-2-xacro-executable-will-not-run/#402816 https://github.com/ros/xacro/pull/304
I'll read up on the vinca/patching workflow and see what I can do when I get a chance
I couldn't add the MoveIt MotionPlanning plugin on a fresh Windows Galactic install until I copied
srdfdom.dll
from\Library\lib\srdfdom\
toLibrary\bin
.This seems like the
srdfdom
issue discussed in #36. I see https://github.com/ros-planning/srdfdom/pull/98 but that should have been picked up by now I suppose.I'm up-to-date:
I discovered this by trying to get the
ur_moveit_config
package from https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver working on Windows. When I launch that MoveIt config,move_group.exe
actually pops up an informative window which can be reproduced more simply with:With the DLL:
If I try to add the MotionPlanning plugin to Rviz2, the resulting error does not mention
srdfdom.dll
so is not very informative. but it's the same issue.Environment
mamba list