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doosan-robotics / doosan-robot2

ROS 2 for Doosan Robot
BSD 3-Clause "New" or "Revised" License
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ROS 2 Humble - Troubles with configuration of A0509 #119

Open DRAJesse opened 1 day ago

DRAJesse commented 1 day ago

I'm reaching out for some assistance with configuring the A0509 model in ROS 2 Humble. I've cloned the doosan-robotics/doosan-robot2 repository from GitHub, specifically the humble-devel branch, and I'm running it on an x86 system with Ubuntu. While ROS 2 Humble itself runs perfectly on my system, I'm encountering issues when working with the A0509 model.

Initially, when I launched the launch file, I faced the following error: [rviz2-6] Error: Semantic description is not specified for the same robot as the URDF [rviz2-6] at line 681 in ./src/model.cpp

I found a mismatch in the robot names; the SRDF file used 'dsr' while the URDF file named the robot 'a0509'. After correcting this inconsistency, I am still facing persistent errors both in the terminal and RViz.

Could you possibly provide me with a working example or any guidance on setting up the A0509 model using ROS 2 Humble? I've also attached screenshots of the terminal and the RViz.

Any assistance you can provide would be greatly appreciated as I work through these configuration challenges.

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SakethTecholution commented 2 hours ago

We are even facing the same issue . Currently I don't think the doosan is giving support for using moveit on ros 2 . They harcoded the robot name to m1013 . Moveit functionality is not working with ROS2 on their packages.