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WisconsinAutonomous / Orientation

https://projects.sbel.org/autonomy-toolkit
MIT License
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Upgrade to ROS2 Humble #1

Open WangHanSolo opened 2 years ago

WangHanSolo commented 2 years ago

As described in the ROS documentation. EOL of ros2 galactic is approaching, moving forward we will be using ros2 humble for the rest of the competition.

  1. To change the ROS version of atk, change galactic to humble https://github.com/WisconsinAutonomous/Orientation/blob/e1368a12e437a42cbe89a1285b02d0cd9adc0b19/containers/dev/dev.dockerfile#L2
  2. After rebuilding the container, please check if the orientation material is still working or not. Please take note of warnings or bugs and add to this issue.
jackson-cyvas commented 2 years ago

I've noticed a few issues so far.

First, and this is mostly unrelated to this issue, is atk dev -d does not work. Instead, you must use docker stop CONTAINER ID then use docker rm CONTAINER ID. This seems to accomplish the same task as atk dev -d.

Next, when using colcon build after upgrading to humble, the installer states after every install /usr/lib/python3/dist-packages/setuptools/dist.py:723: UserWarning: Usage of dash-separated 'script-dir' will not be supported in future versions. Please use the underscore name 'script_dir' instead meaning we will need to change all uses of dashes to underscores in colcon build

And finally, when using ros2 launch tutorial_launch tutorial.launch.py, it outputs the following: image then, if you check localhost:8080, the ros is outputting data, but not the tutorial data.

WangHanSolo commented 2 years ago

1.atk dev -d works on my machine. I cannot recreate the problem. What you did also work. Kudos to figuring that out.

  1. I also noticed the dashes to underscores error when building. This might be something we need to address in the future.
  2. Looking at your screenshot, the error stems from unzip not found on the third line. We download the zipped rosbag from dropbox and unzip it to use. It seems that the unzip step failed. Our containers are built on ROS official docker images. The official ROS Galactic image seems to have zip installed automatically, but not in the ROS Humble. I added them to the setup files in branch humble. https://github.com/WisconsinAutonomous/Orientation/blob/669e9aaaac96bb60bf94a22c81ae089cf40430dc/atk.yml#L76
jackson-cyvas commented 2 years ago

I get the following when I type atk dev -d: image I believe this may occur since I never use the atk dev -u command, since docker compose down is meant to be used when something has been spun up.

Your fix worked and now I'm able to finish the tutorial on humble.