Neobotix MP400 isn't rendered correctly in Gazebo

ljaniec commented 2 years ago

Bug report

operating system: Ubuntu 20.04
ROS2 Galactic (binaries)

Steps to reproduce:

clone repository to your ros2_ws, install aws-robomaker-small-warehouse-world ROS2 Galactic package (binary) and the rest from deps.repos (neobotix robot etc.)
build package colcon build --symlink-install
source install/setup.bash
ros2 launch nav2_rosdevday_2021 system_launch.py

Part of my .bashrc file:

source ~/nav2_ws/install/setup.bash
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/home/ljaniec/ros2_ws/install/aws_robomaker_small_warehouse_world/share/aws_robomaker_small_warehouse_world/worlds:/home/ljaniec/ros2_ws/install/aws_robomaker_small_warehouse_world/share/aws_robomaker_small_warehouse_world/models:/home/ljaniec/ros2_ws/install/neo_simulation2/share/neo_simulation2/robots:/home/ljaniec/ros2_ws/install/neo_simulation2/share/neo_simulation2/models:/opt/ros/galactic/share/turtlebot3_gazebo/models:/home/ljaniec/.gazebo/models

Expected behavior

The simulation with one visible AMR MP 400 rendered and Nav2 stack for starting demo scripts.

Actual behavior

The simulation doesn't have correctly rendered robot (screens below).

Additional information

What I tried:

reinstall Gazebo and Nav2 packages
I have found a similar bug there
I checked URDF like there and it didn't show problems
this bug shows in Simple Commander too (TB3 is invisible, but not in "Collisions" view in Gazebo) - maybe it is something connected with these meshfile changes mentioned in the link above?

ljaniec commented 2 years ago

Hello,

I prepared a small set of commands to show, what I think the problem is.

TB3 case 1

Start Gazebo simulation with empty world

ros2 launch gazebo_ros gazebo.launch.py

Add TB3 SDF model to Gazebo (package turtlebot3_gazebo)

ros2 run gazebo_ros spawn_entity.py -file /opt/ros/galactic/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf -entity robot01

It spawns TB3 Waffle normally (visible model and LiDAR).

TB3 case 2-1

Start Gazebo simulation with empty world

ros2 launch gazebo_ros gazebo.launch.py

Add TB3 URDF model to Gazebo (package nav2_bringup)

ros2 run gazebo_ros spawn_entity.py -file /opt/ros/galactic/share/nav2_bringup/urdf/turtlebot3_waffle.urdf -entity robot01

Surprisingly, it spawns invisible TB3 Waffle. It is visible only in the 'Collision' view in Gazebo. No LiDAR too.

TB3 case 2-2

Start Gazebo simulation with empty world

ros2 launch gazebo_ros gazebo.launch.py

Generate TB3 SDF model from URDF

gz sdf -p turtlebot3_waffle.urdf > turtlebot3_waffle.sdf

Add TB3 SDF model to Gazebo (from package nav2_bringup)

ros2 run gazebo_ros spawn_entity.py -file ~/Desktop/turtlebot3_waffle.sdf -entity robot01

TB3 is invisible (but it's there, after launching 'Collision' view in Gazebo).

MP400 case

Start Gazebo simulation with empty world

ros2 launch gazebo_ros gazebo.launch.py

Add MP400 URDF model to Gazebo

ros2 run gazebo_ros spawn_entity.py -file ~/mp_400/mp_400.urdf -entity robot01

Robot is invisible, there are only blobs in the air and a LiDAR.

Generate SDF model from URDF

gz sdf -p mp_400.urdf > mp_400.sdf

Add MP400 SDF model to Gazebo

ros2 run gazebo_ros spawn_entity.py -file ~/mp_400/mp_400.sdf -entity robot01

Robot is again invisible, there are only blobs in the air and a LiDAR.

Relevant issues and links I have found:

https://github.com/ros-planning/navigation2/issues/2157 - but it's is solved - there is /opt/ros/galactic/share/turtlebot3_gazebo already
https://answers.gazebosim.org//question/26073/cannot-spawn-urdf-into-gazebo-using-ros2/ and https://answers.gazebosim.org//question/2282/convert-urdf-to-sdf-or-load-urdf/ - these two
https://github.com/ros-simulation/gazebo_ros_pkgs/pull/1284 - it looks like this could be the problem addressed it this (unmerged yet) PR ("[gazebo_ros_factory]: Resolve package:// urls")

ljaniec commented 2 years ago

Relevant issue: https://github.com/ros-simulation/gazebo_ros_pkgs/issues/1272#issuecomment-857513366

SteveMacenski / nav2_rosdevday_2021