Use gazebo_ros' launch scripts

AAlon commented 5 years ago

By submitting this pull request, I confirm that you can use, modify, copy, and redistribute this contribution, under the terms of your choice.

timrobotson commented 5 years ago

@AAlon @ryanewel Did you guys test these changes? With latest gazebo + ros dashing it's crashing with segfault for me:

root@b3e261bf8a32:/opt/workspace/simulation_ws# ros2 launch aws_robomaker_bookstore_world bookstore.launch.py gui:=true
[INFO] [launch]: All log files can be found below /opt/tim/.ros/log/2019-09-17-20-19-57-427608-b3e261bf8a32-20976
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [20989]
[INFO] [gzclient   -2]: process started with pid [20991]
[gzserver-1] Home directory not accessible: Permission denied
[gzserver-1] ALSA lib pcm_dmix.c:1052:(snd_pcm_dmix_open) unable to open slave
[gzserver-1] AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': Device or resource busy
[gzclient   -2] [Err] [REST.cc:205] Error in REST request
[gzclient   -2] 
[gzclient   -2] libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[gzclient   -2] Segmentation fault (core dumped)
[ERROR] [gzclient   -2]: process has died [pid 20991, exit code 139, cmd 'gzclient   '].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[ERROR] [gzserver-1]: process[gzserver-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [gzserver-1]: sending signal 'SIGTERM' to process[gzserver-1]
[ERROR] [gzserver-1]: process has died [pid 20989, exit code -15, cmd 'gzserver /opt/workspace/simulation_ws/install/aws_robomaker_bookstore_world/share/aws_robomaker_bookstore_world/worlds/bookstore.world                                                                   -s libgazebo_ros_init.so   -s libgazebo_ros_factory.so       '].

After reverting this change it launches fine.

timrobotson commented 5 years ago

Here's the output logs when I launch with this change reverted:

root@b3e261bf8a32:/opt/workspace/simulation_ws# ros2 launch aws_robomaker_bookstore_world bookstore.launch.py gui:=true
[INFO] [launch]: All log files can be found below /opt/tim/.ros/log/2019-09-17-20-37-06-369111-b3e261bf8a32-31014
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [31027]
[INFO] [gzclient-2]: process started with pid [31028]
[gzserver-1] Gazebo multi-robot simulator, version 9.0.0
[gzserver-1] Copyright (C) 2012 Open Source Robotics Foundation.
[gzserver-1] Released under the Apache 2 License.
[gzserver-1] http://gazebosim.org
[gzserver-1] 
[gzserver-1] Home directory not accessible: Permission denied
[gzserver-1] ALSA lib pcm_dmix.c:1052:(snd_pcm_dmix_open) unable to open slave
[gzserver-1] AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': Device or resource busy
[gzserver-1] [Err] [OpenAL.cc:84] Unable to open audio device[default]
[gzserver-1]  Audio will be disabled.
[gzserver-1] [Msg] Waiting for master.
[gzserver-1] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzserver-1] [Msg] Publicized address: 240.10.0.3
[gzserver-1] [INFO] [gazebo_ros_node]: ROS was initialized without arguments.
[gzserver-1] [Wrn] [ColladaLoader.cc:1805] Triangle input semantic: 'TEXCOORD' is currently not supported
[gzserver-1] [Err] [SystemPaths.cc:412] File or path does not exist[""]
[gzserver-1] [Err] [MeshShape.cc:66] No mesh specified
[gzclient-2] [Err] [REST.cc:205] Error in REST request
[gzclient-2] 
[gzclient-2] libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'

gazebo loads correctly and shows the world even with those errors.

aws-robotics / aws-robomaker-bookstore-world

Use gazebo_ros' launch scripts #6