search

bdaiinstitute / spot_ros2

ROS 2 driver package for Boston Dynamics' Spot
Other
157 stars 59 forks source link

Conda python 3.10 env issues when launching driver #330

Open annanya-tamu opened 6 months ago

annanya-tamu commented 6 months ago

Starting this thread with issues faced while trying to launch driver on python 3.10 conda env.

The rclpy package requires GLIBCXX_3.4.30, as shown by the output:

(py3.10) annanya@annanya:~/Documents/spot_ros_ws$ ros2 launch spot_driver spot_driver.launch.py [INFO] [launch]: All log files can be found below /home/annanya/.ros/log/2024-04-02-10-19-11-593847-annanya-4957 [INFO] [launch]: Default logging verbosity is set to INFO [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [INFO] [spot_ros2-1]: process started with pid [4991] [INFO] [spot_image_publisher_node-2]: process started with pid [4993] [INFO] [spot_inverse_kinematics_node-3]: process started with pid [4995] [INFO] [robot_state_publisher-4]: process started with pid [4997] [INFO] [state_publisher_node-5]: process started with pid [4999] [INFO] [spot_alerts-6]: process started with pid [5001] [INFO] [component_container_mt-7]: process started with pid [5012] [robot_state_publisher-4] [INFO] [1712071153.581901268] [robot_state_publisher]: got segment arm_link_el0 [robot_state_publisher-4] [INFO] [1712071153.582023665] [robot_state_publisher]: got segment arm_link_el1 [robot_state_publisher-4] [INFO] [1712071153.582036721] [robot_state_publisher]: got segment arm_link_fngr [robot_state_publisher-4] [INFO] [1712071153.582044766] [robot_state_publisher]: got segment arm_link_hr0 [robot_state_publisher-4] [INFO] [1712071153.582052190] [robot_state_publisher]: got segment arm_link_sh0 [robot_state_publisher-4] [INFO] [1712071153.582059731] [robot_state_publisher]: got segment arm_link_sh1 [robot_state_publisher-4] [INFO] [1712071153.582067147] [robot_state_publisher]: got segment arm_link_wr0 [robot_state_publisher-4] [INFO] [1712071153.582074328] [robot_state_publisher]: got segment arm_link_wr1 [robot_state_publisher-4] [INFO] [1712071153.582081463] [robot_state_publisher]: got segment base_link [robot_state_publisher-4] [INFO] [1712071153.582088811] [robot_state_publisher]: got segment body [robot_state_publisher-4] [INFO] [1712071153.582096370] [robot_state_publisher]: got segment front_left_hip [robot_state_publisher-4] [INFO] [1712071153.582103595] [robot_state_publisher]: got segment front_left_lower_leg [robot_state_publisher-4] [INFO] [1712071153.582111312] [robot_state_publisher]: got segment front_left_upper_leg [robot_state_publisher-4] [INFO] [1712071153.582118488] [robot_state_publisher]: got segment front_rail [robot_state_publisher-4] [INFO] [1712071153.582125810] [robot_state_publisher]: got segment front_right_hip [robot_state_publisher-4] [INFO] [1712071153.582133291] [robot_state_publisher]: got segment front_right_lower_leg [robot_state_publisher-4] [INFO] [1712071153.582140798] [robot_state_publisher]: got segment front_right_upper_leg [robot_state_publisher-4] [INFO] [1712071153.582148204] [robot_state_publisher]: got segment rear_left_hip [robot_state_publisher-4] [INFO] [1712071153.582155648] [robot_state_publisher]: got segment rear_left_lower_leg [robot_state_publisher-4] [INFO] [1712071153.582163083] [robot_state_publisher]: got segment rear_left_upper_leg [robot_state_publisher-4] [INFO] [1712071153.582170398] [robot_state_publisher]: got segment rear_rail [robot_state_publisher-4] [INFO] [1712071153.582177700] [robot_state_publisher]: got segment rear_right_hip [robot_state_publisher-4] [INFO] [1712071153.582184956] [robot_state_publisher]: got segment rear_right_lower_leg [robot_state_publisher-4] [INFO] [1712071153.582192557] [robot_state_publisher]: got segment rear_right_upper_leg [spot_ros2-1] Traceback (most recent call last): [spot_ros2-1] File "/home/annanya/Documents/spot_ros_ws/install/spot_driver/lib/spot_driver/spot_ros2", line 16, in [spot_ros2-1] import bdai_ros2_wrappers.process as ros_process [spot_ros2-1] File "/home/annanya/Documents/spot_ros_ws/build/bdai_ros2_wrappers/bdai_ros2_wrappers/process.py", line 11, in [spot_ros2-1] import rclpy [spot_ros2-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 49, in [spot_ros2-1] from rclpy.signals import install_signal_handlers [spot_ros2-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/signals.py", line 15, in [spot_ros2-1] from rclpy.exceptions import InvalidHandle [spot_ros2-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/exceptions.py", line 15, in [spot_ros2-1] from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy [spot_ros2-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/impl/implementation_singleton.py", line 32, in [spot_ros2-1] rclpy_implementation = import_c_library('._rclpy_pybind11', package) [spot_ros2-1] File "/opt/ros/humble/lib/python3.10/site-packages/rpyutils/import_c_library.py", line 39, in import_c_library [spot_ros2-1] return importlib.import_module(name, package=package) [spot_ros2-1] File "/home/annanya/miniconda3/envs/py3.10/lib/python3.10/importlib/init.py", line 126, in import_module [spot_ros2-1] return _bootstrap._gcd_import(name[level:], package, level) [spot_ros2-1] ImportError: /home/annanya/miniconda3/envs/py3.10/bin/../lib/libstdc++.so.6: version `GLIBCXX_3.4.30' not found (required by /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/_rclpy_pybind11.cpython-310-x86_64-linux-gnu.so)

It was fixed by running conda install -c conda-forge gcc=12.1.0; maybe worth putting in a conda specific installation guide since the documentation currently recommends to use a virtual env.

annanya-tamu commented 6 months ago

The logging node requires the 'packaging' module.

(py3.10) annanya@annanya:~/Documents/spot_ros_ws$ ros2 launch spot_driver spot_driver.launch.py
[INFO] [launch]: All log files can be found below /home/annanya/.ros/log/2024-04-02-10-25-22-840051-annanya-5340
[INFO] [launch]: Default logging verbosity is set to INFO
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: .
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [INFO] [spot_ros2-1]: process started with pid [5374] [INFO] [spot_image_publisher_node-2]: process started with pid [5376] [INFO] [spot_inverse_kinematics_node-3]: process started with pid [5378] [INFO] [robot_state_publisher-4]: process started with pid [5380] [INFO] [state_publisher_node-5]: process started with pid [5382] [INFO] [spot_alerts-6]: process started with pid [5384] [INFO] [component_container_mt-7]: process started with pid [5395] [robot_state_publisher-4] [INFO] [1712071524.790050461] [robot_state_publisher]: got segment arm_link_el0 [robot_state_publisher-4] [INFO] [1712071524.790187344] [robot_state_publisher]: got segment arm_link_el1 [robot_state_publisher-4] [INFO] [1712071524.790200934] [robot_state_publisher]: got segment arm_link_fngr [robot_state_publisher-4] [INFO] [1712071524.790214714] [robot_state_publisher]: got segment arm_link_hr0 [robot_state_publisher-4] [INFO] [1712071524.790223093] [robot_state_publisher]: got segment arm_link_sh0 [robot_state_publisher-4] [INFO] [1712071524.790230761] [robot_state_publisher]: got segment arm_link_sh1 [robot_state_publisher-4] [INFO] [1712071524.790238620] [robot_state_publisher]: got segment arm_link_wr0 [robot_state_publisher-4] [INFO] [1712071524.790246224] [robot_state_publisher]: got segment arm_link_wr1 [robot_state_publisher-4] [INFO] [1712071524.790253592] [robot_state_publisher]: got segment base_link [robot_state_publisher-4] [INFO] [1712071524.790261114] [robot_state_publisher]: got segment body [robot_state_publisher-4] [INFO] [1712071524.790268931] [robot_state_publisher]: got segment front_left_hip [robot_state_publisher-4] [INFO] [1712071524.790276657] [robot_state_publisher]: got segment front_left_lower_leg [robot_state_publisher-4] [INFO] [1712071524.790284668] [robot_state_publisher]: got segment front_left_upper_leg [robot_state_publisher-4] [INFO] [1712071524.790292355] [robot_state_publisher]: got segment front_rail [robot_state_publisher-4] [INFO] [1712071524.790300223] [robot_state_publisher]: got segment front_right_hip [robot_state_publisher-4] [INFO] [1712071524.790308146] [robot_state_publisher]: got segment front_right_lower_leg [robot_state_publisher-4] [INFO] [1712071524.790316034] [robot_state_publisher]: got segment front_right_upper_leg [robot_state_publisher-4] [INFO] [1712071524.790323516] [robot_state_publisher]: got segment rear_left_hip [robot_state_publisher-4] [INFO] [1712071524.790331239] [robot_state_publisher]: got segment rear_left_lower_leg [robot_state_publisher-4] [INFO] [1712071524.790339150] [robot_state_publisher]: got segment rear_left_upper_leg [robot_state_publisher-4] [INFO] [1712071524.790346711] [robot_state_publisher]: got segment rear_rail [robot_state_publisher-4] [INFO] [1712071524.790354330] [robot_state_publisher]: got segment rear_right_hip [robot_state_publisher-4] [INFO] [1712071524.790362001] [robot_state_publisher]: got segment rear_right_lower_leg [robot_state_publisher-4] [INFO] [1712071524.790369728] [robot_state_publisher]: got segment rear_right_upper_leg [component_container_mt-7] [INFO] [1712071524.996605002] [container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so [spot_alerts-6] Traceback (most recent call last): [spot_alerts-6] File "/home/annanya/Documents/spot_ros_ws/install/spot_driver/lib/spot_driver/spot_alerts", line 5, in [spot_alerts-6] import bdai_ros2_wrappers.process as ros_process [spot_alerts-6] File "/home/annanya/Documents/spot_ros_ws/build/bdai_ros2_wrappers/bdai_ros2_wrappers/process.py", line 20, in [spot_alerts-6] import bdai_ros2_wrappers.scope as scope [spot_alerts-6] File "/home/annanya/Documents/spot_ros_ws/build/bdai_ros2_wrappers/bdai_ros2_wrappers/scope.py", line 14, in [spot_alerts-6] from bdai_ros2_wrappers.logging import logs_to_ros [spot_alerts-6] File "/home/annanya/Documents/spot_ros_ws/build/bdai_ros2_wrappers/bdai_ros2_wrappers/logging.py", line 31, in [spot_alerts-6] import packaging.version [spot_alerts-6] ModuleNotFoundError: No module named 'packaging' [component_container_mt-7] [INFO] [1712071525.075392903] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712071525.075447892] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712071525.075460004] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712071525.075468562] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712071525.075476770] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712071525.075485124] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712071525.075493510] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712071525.075501883] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712071525.075514818] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712071525.075523329] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712071525.075531413] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [spot_ros2-1] Traceback (most recent call last): [spot_ros2-1] File "/home/annanya/Documents/spot_ros_ws/install/spot_driver/lib/spot_driver/spot_ros2", line 16, in [spot_ros2-1] import bdai_ros2_wrappers.process as ros_process [spot_ros2-1] File "/home/annanya/Documents/spot_ros_ws/build/bdai_ros2_wrappers/bdai_ros2_wrappers/process.py", line 20, in [spot_ros2-1] import bdai_ros2_wrappers.scope as scope [spot_ros2-1] File "/home/annanya/Documents/spot_ros_ws/build/bdai_ros2_wrappers/bdai_ros2_wrappers/scope.py", line 14, in [spot_ros2-1] from bdai_ros2_wrappers.logging import logs_to_ros [spot_ros2-1] File "/home/annanya/Documents/spot_ros_ws/build/bdai_ros2_wrappers/bdai_ros2_wrappers/logging.py", line 31, in [spot_ros2-1] import packaging.version [spot_ros2-1] ModuleNotFoundError: No module named 'packaging'

Fixed by running conda install packaging

annanya-tamu commented 6 months ago

The proto2ros package needs the multipled package. (py3.10) annanya@annanya:~/Documents/spot_ros_ws$ ros2 launch spot_driver spot_driver.launch.py [INFO] [launch]: All log files can be found below /home/annanya/.ros/log/2024-04-02-10-57-45-203401-annanya-7148 [INFO] [launch]: Default logging verbosity is set to INFO [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [INFO] [spot_ros2-1]: process started with pid [7182] [INFO] [spot_image_publisher_node-2]: process started with pid [7184] [INFO] [spot_inverse_kinematics_node-3]: process started with pid [7186] [INFO] [robot_state_publisher-4]: process started with pid [7188] [INFO] [state_publisher_node-5]: process started with pid [7190] [INFO] [spot_alerts-6]: process started with pid [7192] [INFO] [component_container_mt-7]: process started with pid [7194] [robot_state_publisher-4] [INFO] [1712073467.914745223] [robot_state_publisher]: got segment arm_link_el0 [robot_state_publisher-4] [INFO] [1712073467.914902931] [robot_state_publisher]: got segment arm_link_el1 [robot_state_publisher-4] [INFO] [1712073467.914917563] [robot_state_publisher]: got segment arm_link_fngr [robot_state_publisher-4] [INFO] [1712073467.914926143] [robot_state_publisher]: got segment arm_link_hr0 [robot_state_publisher-4] [INFO] [1712073467.914933901] [robot_state_publisher]: got segment arm_link_sh0 [robot_state_publisher-4] [INFO] [1712073467.914941361] [robot_state_publisher]: got segment arm_link_sh1 [robot_state_publisher-4] [INFO] [1712073467.914948998] [robot_state_publisher]: got segment arm_link_wr0 [robot_state_publisher-4] [INFO] [1712073467.914956473] [robot_state_publisher]: got segment arm_link_wr1 [robot_state_publisher-4] [INFO] [1712073467.914963898] [robot_state_publisher]: got segment base_link [robot_state_publisher-4] [INFO] [1712073467.914971266] [robot_state_publisher]: got segment body [robot_state_publisher-4] [INFO] [1712073467.914979000] [robot_state_publisher]: got segment front_left_hip [robot_state_publisher-4] [INFO] [1712073467.914986491] [robot_state_publisher]: got segment front_left_lower_leg [robot_state_publisher-4] [INFO] [1712073467.914994163] [robot_state_publisher]: got segment front_left_upper_leg [robot_state_publisher-4] [INFO] [1712073467.915001704] [robot_state_publisher]: got segment front_rail [robot_state_publisher-4] [INFO] [1712073467.915009137] [robot_state_publisher]: got segment front_right_hip [robot_state_publisher-4] [INFO] [1712073467.915016483] [robot_state_publisher]: got segment front_right_lower_leg [robot_state_publisher-4] [INFO] [1712073467.915024185] [robot_state_publisher]: got segment front_right_upper_leg [robot_state_publisher-4] [INFO] [1712073467.915031672] [robot_state_publisher]: got segment rear_left_hip [robot_state_publisher-4] [INFO] [1712073467.915039141] [robot_state_publisher]: got segment rear_left_lower_leg [robot_state_publisher-4] [INFO] [1712073467.915046464] [robot_state_publisher]: got segment rear_left_upper_leg [robot_state_publisher-4] [INFO] [1712073467.915053792] [robot_state_publisher]: got segment rear_rail [robot_state_publisher-4] [INFO] [1712073467.915061265] [robot_state_publisher]: got segment rear_right_hip [robot_state_publisher-4] [INFO] [1712073467.915068588] [robot_state_publisher]: got segment rear_right_lower_leg [robot_state_publisher-4] [INFO] [1712073467.915076254] [robot_state_publisher]: got segment rear_right_upper_leg [component_container_mt-7] [INFO] [1712073468.062470606] [container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so [component_container_mt-7] [INFO] [1712073468.160013886] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.160057663] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.160064748] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.160070300] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.160075755] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.160081201] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.160086621] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.160091926] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.160097420] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.160103029] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.160108608] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/register_node_frontleft' in container '/container' [component_container_mt-7] [INFO] [1712073468.185339336] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.185387273] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.185399828] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.185411715] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.185421754] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.185448674] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.185459982] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.185469010] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.185477139] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.185485915] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.185494492] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/register_node_frontright' in container '/container' [component_container_mt-7] [INFO] [1712073468.205440511] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.205485081] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.205497715] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.205509646] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.205519049] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.205529296] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.205538409] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.205546892] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.205579468] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.205592600] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.205602142] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/register_node_left' in container '/container' [component_container_mt-7] [INFO] [1712073468.237909967] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.237949015] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.237960907] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.237971643] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.237980783] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.237988902] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.237997212] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.238005476] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.238014081] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.238024076] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.238034217] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/register_node_right' in container '/container' [component_container_mt-7] [INFO] [1712073468.260036640] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.260075654] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.260087157] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.260096617] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.260108734] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.260130064] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.260139437] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.260148713] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.260157697] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.260166519] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.260175390] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/register_node_back' in container '/container' [component_container_mt-7] [INFO] [1712073468.286972080] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.287018905] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.287033020] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.287046075] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.287056249] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.287065442] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.287098279] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.287109535] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.287118890] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.287127999] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073468.287141950] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/register_node_hand' in container '/container' [state_publisher_node-5] [ERROR] [1712073468.460603689] [state_publisher]: Failed to get latest clock skew: Received a failure result from the TimeSyncEndpoint: 2(STATUS_MORE_SAMPLES_NEEDED): GetClockSkew: Clock synchronization not yet achieved. [state_publisher_node-5] [ERROR] [1712073468.480149144] [state_publisher]: Failed to get latest clock skew: Received a failure result from the TimeSyncEndpoint: 2(STATUS_MORE_SAMPLES_NEEDED): GetClockSkew: Clock synchronization not yet achieved. [state_publisher_node-5] [ERROR] [1712073468.500150484] [state_publisher]: Failed to get latest clock skew: Received a failure result from the TimeSyncEndpoint: 2(STATUS_MORE_SAMPLES_NEEDED): GetClockSkew: Clock synchronization not yet achieved. [state_publisher_node-5] [ERROR] [1712073468.520140492] [state_publisher]: Failed to get latest clock skew: Received a failure result from the TimeSyncEndpoint: 2(STATUS_MORE_SAMPLES_NEEDED): GetClockSkew: Clock synchronization not yet achieved. [component_container_mt-7] [ERROR] [1712073469.090588747] [register_node_back]: TF2 exception: [component_container_mt-7] "back_fisheye" passed to lookupTransform argument target_frame does not exist. [component_container_mt-7] [ERROR] [1712073469.091471369] [register_node_frontleft]: TF2 exception: [component_container_mt-7] "frontleft_fisheye" passed to lookupTransform argument target_frame does not exist. [component_container_mt-7] [ERROR] [1712073469.092912341] [register_node_frontright]: TF2 exception: [component_container_mt-7] "frontright_fisheye" passed to lookupTransform argument target_frame does not exist. [component_container_mt-7] [ERROR] [1712073469.093251653] [register_node_left]: TF2 exception: [component_container_mt-7] "left_fisheye" passed to lookupTransform argument target_frame does not exist. [component_container_mt-7] [ERROR] [1712073469.094070111] [register_node_right]: TF2 exception: [component_container_mt-7] "right_fisheye" passed to lookupTransform argument target_frame does not exist. [spot_ros2-1] Traceback (most recent call last): [spot_ros2-1] File "/home/annanya/Documents/spot_ros_ws/install/spot_driver/lib/spot_driver/spot_ros2", line 44, in [spot_ros2-1] from bosdyn_msgs.conversions import convert [spot_ros2-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/bosdyn_msgs/conversions.py", line 3, in [spot_ros2-1] import bosdyn_apimsgs.conversions as # noqa [spot_ros2-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/bosdyn_api_msgs/conversions.py", line 102, in [spot_ros2-1] from proto2ros.conversions import convert [spot_ros2-1] File "/home/annanya/Documents/spot_ros_ws/install/proto2ros/lib/python3.10/site-packages/proto2ros/conversions/init.py", line 2, in [spot_ros2-1] import multipledispatch [spot_ros2-1] ModuleNotFoundError: No module named 'multipledispatch'

Fixed by running conda install -c conda-forge multipledispatch

annanya-tamu commented 6 months ago

The ros_helpers.py requires cv2

(py3.10) annanya@annanya:~/Documents/spot_ros_ws$ ros2 launch spot_driver spot_driver.launch.py [INFO] [launch]: All log files can be found below /home/annanya/.ros/log/2024-04-02-11-04-57-652483-annanya-7465 [INFO] [launch]: Default logging verbosity is set to INFO [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [WARNING] [launch_ros.actions.node]: Parameter file path is not a file: . [INFO] [spot_ros2-1]: process started with pid [7500] [INFO] [spot_image_publisher_node-2]: process started with pid [7502] [INFO] [spot_inverse_kinematics_node-3]: process started with pid [7504] [INFO] [robot_state_publisher-4]: process started with pid [7506] [INFO] [state_publisher_node-5]: process started with pid [7508] [INFO] [spot_alerts-6]: process started with pid [7510] [INFO] [component_container_mt-7]: process started with pid [7520] [robot_state_publisher-4] [INFO] [1712073899.638841397] [robot_state_publisher]: got segment arm_link_el0 [robot_state_publisher-4] [INFO] [1712073899.639594625] [robot_state_publisher]: got segment arm_link_el1 [robot_state_publisher-4] [INFO] [1712073899.639990662] [robot_state_publisher]: got segment arm_link_fngr [robot_state_publisher-4] [INFO] [1712073899.640331738] [robot_state_publisher]: got segment arm_link_hr0 [robot_state_publisher-4] [INFO] [1712073899.640688234] [robot_state_publisher]: got segment arm_link_sh0 [robot_state_publisher-4] [INFO] [1712073899.641038093] [robot_state_publisher]: got segment arm_link_sh1 [robot_state_publisher-4] [INFO] [1712073899.641416117] [robot_state_publisher]: got segment arm_link_wr0 [robot_state_publisher-4] [INFO] [1712073899.641807416] [robot_state_publisher]: got segment arm_link_wr1 [robot_state_publisher-4] [INFO] [1712073899.642159470] [robot_state_publisher]: got segment base_link [robot_state_publisher-4] [INFO] [1712073899.642740004] [robot_state_publisher]: got segment body [robot_state_publisher-4] [INFO] [1712073899.643165302] [robot_state_publisher]: got segment front_left_hip [robot_state_publisher-4] [INFO] [1712073899.643592934] [robot_state_publisher]: got segment front_left_lower_leg [robot_state_publisher-4] [INFO] [1712073899.644002789] [robot_state_publisher]: got segment front_left_upper_leg [robot_state_publisher-4] [INFO] [1712073899.644380453] [robot_state_publisher]: got segment front_rail [robot_state_publisher-4] [INFO] [1712073899.644764676] [robot_state_publisher]: got segment front_right_hip [robot_state_publisher-4] [INFO] [1712073899.645137506] [robot_state_publisher]: got segment front_right_lower_leg [robot_state_publisher-4] [INFO] [1712073899.645506447] [robot_state_publisher]: got segment front_right_upper_leg [robot_state_publisher-4] [INFO] [1712073899.646903565] [robot_state_publisher]: got segment rear_left_hip [robot_state_publisher-4] [INFO] [1712073899.648884019] [robot_state_publisher]: got segment rear_left_lower_leg [robot_state_publisher-4] [INFO] [1712073899.648910063] [robot_state_publisher]: got segment rear_left_upper_leg [robot_state_publisher-4] [INFO] [1712073899.648927167] [robot_state_publisher]: got segment rear_rail [robot_state_publisher-4] [INFO] [1712073899.648938314] [robot_state_publisher]: got segment rear_right_hip [robot_state_publisher-4] [INFO] [1712073899.648953758] [robot_state_publisher]: got segment rear_right_lower_leg [robot_state_publisher-4] [INFO] [1712073899.648969573] [robot_state_publisher]: got segment rear_right_upper_leg [component_container_mt-7] [INFO] [1712073899.808832972] [container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so [component_container_mt-7] [INFO] [1712073899.906069879] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.906760088] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.907326149] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.907800971] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.908254181] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.908706485] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.909134698] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.909561311] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.909980025] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.910369685] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.910756033] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/register_node_frontleft' in container '/container' [component_container_mt-7] [INFO] [1712073899.943870920] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.943926701] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.943940733] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.943950437] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.943959528] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.943971403] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.943980317] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.944008378] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.944022910] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.944038809] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.944054534] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/register_node_frontright' in container '/container' [component_container_mt-7] [INFO] [1712073899.980519586] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.980571832] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.980584717] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.981399199] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.981424840] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.981435559] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.981444958] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.981453974] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.981492410] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.981506414] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073899.981518250] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/register_node_left' in container '/container' [component_container_mt-7] [INFO] [1712073900.020913634] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.020969212] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.020982401] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.020992827] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.021002239] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.021012777] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.021021966] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.021030996] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.021043786] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.021052997] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.021061796] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/register_node_right' in container '/container' [component_container_mt-7] [INFO] [1712073900.059788493] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.059827989] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.059840829] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.059850916] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.059862809] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.059871644] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.059881149] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.059890070] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.059898645] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.059907569] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.059916593] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/register_node_back' in container '/container' [component_container_mt-7] [INFO] [1712073900.107701905] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.107740531] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.107754971] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.107764232] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.107773852] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.107782784] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.107811763] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.107823269] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.107833489] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.107844010] [container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container_mt-7] [INFO] [1712073900.107853142] [container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/register_node_hand' in container '/container' [state_publisher_node-5] [ERROR] [1712073900.221145497] [state_publisher]: Failed to get latest clock skew: Received a failure result from the TimeSyncEndpoint: 2(STATUS_MORE_SAMPLES_NEEDED): GetClockSkew: Clock synchronization not yet achieved. [state_publisher_node-5] [ERROR] [1712073900.240664745] [state_publisher]: Failed to get latest clock skew: Received a failure result from the TimeSyncEndpoint: 2(STATUS_MORE_SAMPLES_NEEDED): GetClockSkew: Clock synchronization not yet achieved. [state_publisher_node-5] [ERROR] [1712073900.260662544] [state_publisher]: Failed to get latest clock skew: Received a failure result from the TimeSyncEndpoint: 2(STATUS_MORE_SAMPLES_NEEDED): GetClockSkew: Clock synchronization not yet achieved. [component_container_mt-7] [ERROR] [1712073901.003993989] [register_node_back]: TF2 exception: [component_container_mt-7] "back_fisheye" passed to lookupTransform argument target_frame does not exist. [component_container_mt-7] [ERROR] [1712073901.004809662] [register_node_frontleft]: TF2 exception: [component_container_mt-7] "frontleft_fisheye" passed to lookupTransform argument target_frame does not exist. [component_container_mt-7] [ERROR] [1712073901.005628054] [register_node_frontright]: TF2 exception: [component_container_mt-7] "frontright_fisheye" passed to lookupTransform argument target_frame does not exist. [component_container_mt-7] [ERROR] [1712073901.006563148] [register_node_left]: TF2 exception: [component_container_mt-7] "left_fisheye" passed to lookupTransform argument target_frame does not exist. [component_container_mt-7] [ERROR] [1712073901.007239181] [register_node_right]: TF2 exception: [component_container_mt-7] "right_fisheye" passed to lookupTransform argument target_frame does not exist. [spot_ros2-1] Traceback (most recent call last): [spot_ros2-1] File "/home/annanya/Documents/spot_ros_ws/install/spot_driver/lib/spot_driver/spot_ros2", line 77, in [spot_ros2-1] from spot_driver.ros_helpers import ( [spot_ros2-1] File "/home/annanya/Documents/spot_ros_ws/install/spot_driver/lib/python3.10/site-packages/spot_driver/ros_helpers.py", line 6, in [spot_ros2-1] import cv2 [spot_ros2-1] ModuleNotFoundError: No module named 'cv2'

Fixed by running conda install -c conda-forge opencv

bhung-bdai commented 6 months ago

Thank you for figuring these out. We haven't currently supported a conda installation, so it's good knowledge to have for users who choose to install this way.

khughes-bdai commented 6 months ago

Did you try running the install_spot_ros2.sh script inside of the conda environment? Just curious if that installed the other necessary ros dependencies/packages within conda. We can add a quick note about this in the "Help" section of the README too. Thanks!

annanya-tamu commented 6 months ago

@khughes-bdai Yes I got these errors after running the install_spot_ros2.sh script.

annanya-tamu commented 5 months ago

By the way, there were a few more conda and pip installs I had to run in order to get the driver running. This is my environment file, which you can try to use on a different machine to reproduce the same env. (it was originally a .yml file but github won't let me attach that file type) environment.txt

khughes-bdai commented 5 months ago

Thanks for all this info! I'll leave this issue open in case there are other anaconda users who might benefit from this.