Running this on ROS-noetic

[m2kulkarni]

I am trying to run this on latest ros version but it doesnt seem to work. When i follow the installation steps, catkin_make runs successfully but with error for yocs_velocity smoother. I also tried cloning yocs_velocity_smoother from upstream, but still it persists

[bluetulip89]

This champ package is intended for kinetic or melodic. For the latest release, we need to make some modifications to work.

The "ecl_threads" ROS package is missing. Kindly install the package from this link (http://wiki.ros.org/ecl_threads) and don't forget to choose neotic branch. Let us know if you have any other errors.

[m2kulkarni]

Hey, I did that, i built from source ecl packages and when i did catkin_make, i had no errors in that. It built successfully(no ecl errors like last time). But when i try to run roslaunch champ_config bringup.launch rviz:=true i get rviz with only a white mesh and lots of error in terminal

Also when i run roslaunch champ_config gazebo.launch gazebo gets stuck on preparing your world without any errors.

Maybe champ requires other packages which arent included? If so can you list them. Thanks.

1. Hector_sensors_description

Edit 1: If i wait some time, gazebo.launch gives the same errors Edit 2: here is the errors for gazebo.launch

[grassjelly]

hi, can you try this branch? I suspect it's publishing the transforms before the controller has started. Temporarily added some flag to ensure the controller has started before publishing data.

https://github.com/chvmp/champ/tree/noetic-bug

[m2kulkarni]

Which Branch? Master or the noetic-bug branch?

[grassjelly]

sorry missed the link. Updated my comment.

[m2kulkarni]

Still no change, same thing happens :/

[grassjelly]

did you rebuild the workspace and source it again?

[m2kulkarni]

Yes, did that.

[grassjelly]

Sorry can’t replicate this issue in Melodic. I suspect it could be related to the pose estimation that was recently added. Meanwhile you can give the previous commit a try. https://github.com/chvmp/champ/tree/5e0861d60e2e1b8597db93b3adbc5562f4bd31fd

[m2kulkarni]

I tried that too. Here are the output files for

1. git show-branch
2. catkin_make
3. roslaunch champ_config bringup.launch rviz:=true I did not find anything peculiar. out.txt

[grassjelly]

hey @m2kulkarni . Saw your SLAM benchmarks. Did you manage to run this on Noetic?

[grassjelly]

@lenia209911 hi, can you please post this as a separate issue.

[nickle-fang]

@grassjelly I meet the same problem with @m2kulkarni . My OS is Ubuntu 20.04.

[flynneva]

hey so i just built this package on the master branch on Ubuntu 20.04 using noetic. it builds fine as long as you have the dependencies installed.

the problem i think you are running into is one that rosdep install isnt actually installing your dependencies. I ran into the same problem and have created an issue over on the rosdep repo to track it.

to run rosdep install on noetic on ubuntu 20.04 run it while specifying your OS's version:

rosdep install --os=ubuntu:focal --from-paths src --ignore-src -r -y

[flynneva]

what is a problem though is that it looks like two dependencies are not available yet for noetic:

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
yobotics_description: Cannot locate rosdep definition for [hector_sensors_description]
mini_ros: Cannot locate rosdep definition for [hector_sensors_description]
champ_navigation: Cannot locate rosdep definition for [hector_mapping]
opendog_description: Cannot locate rosdep definition for [hector_sensors_description]
dkitty_description: Cannot locate rosdep definition for [hector_sensors_description]
champ_description: Cannot locate rosdep definition for [hector_sensors_description]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully

[flynneva]

created tracking issue for the Noetic dependencies #15