Robot meshes and structure are not correctly shown

[fmrico]

• OS: Ubuntu 22.04
• ROS 2 Distro: Humble
• Built from source

• Package version:

  • clearpath_common: humble
  • clearpath_config: main
  • clearpath_robot: main
  • clearpath_simulator: main
  • Ignition Gazebo, version 6.14.0

  Expected behaviour I am following the documentation at: https://docs.clearpathrobotics.com/docs/ros/config/yaml . My robot.yaml is:

serial_number: a200-0000
version: 0
system:
  hosts:
    self: argo
    platform:
      argo: 127.0.0.1
    onboard: {}
    remote: {}
  ros2:
    username: fmrico
    namespace: /
    domain_id: 0
    rmw_implementation: rmw_fastrtps_cpp
platform:
  controller: ps4
  decorations:
    front_bumper:
      enabled: true
      model: default
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      extension: 0.0
    rear_bumper:
      enabled: true
      model: default
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      extension: 0.0
    structure:
      enabled: true
      model: sensor_arch_300
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
    top_plate:
      enabled: true
      model: pacs
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
  extras:
    urdf: null
    control: null
accessories:
  box:
    - name: user_bay_cover
      parent: top_plate_link
      xyz: [0.0, 0.0, 0.00735]
      rpy: [0.0, 0.0, 0.0]
      size: [0.4, 0.4, 0.002]
  cylinder: []
  link: []
  mesh: []
  sphere: []
mounts:
  bracket: []
  fath_pivot: []
  riser: []
sensors:
  camera: []
  gps: []
  imu: []
  lidar2d: []
  lidar3d: []

It is supposed to get this:

Actual behaviour I get this:

To Reproduce Simply follow your instructions:

1. Clone the above packages in a workspace and build
2. store the robot.yaml file I shown before in ~/clearpath/
3. ros2 launch clearpath_gz simulation.launch.py

[roni-kreinin]

Can you share the terminal output when you launch?

[fmrico]

Hi @roni-kreinin

I have changed ~/clearpath/robot.yaml as you told me in #12

robot.zip

I Attach the output of:

1. ros2 launch clearpath_gz gz_sim.launch.py &> gz_out.txt
2. ros2 launch clearpath_gz robot_spawn.launch.py &> spawn_out.txt
3. ros2 run rviz2 rviz2 --ros-args -p use_sim_time:=True &> rviz2_out.txt

Now I can see the robot as the next image, but I cannot visualize pointcloud, laser, or image (blue image?) from sensors.

I hope it helps gz_out.txt rviz2_out.txt spawn_out.txt

[tonybaltovski]

@fmrico can update to last branches for all?

[tonybaltovski]

Closing due to inactivity. Please feel free to re-open if issue persists.