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f1tenth / f1tenth_gym_ros

Containerized ROS communication bridge for F1TENTH gym environment.
MIT License
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Robot model not loading #24

Closed Cho-Hyeongrae closed 2 years ago

Cho-Hyeongrae commented 2 years ago

Describe the bug I ran the version with GPU, but only a white vehicle is visible as shown in the photo, "[rviz2-1] Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist [rviz2-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp" is repeatedly displayed in the terminal.

To Reproduce Steps to reproduce the behavior:

  1. install Docker, nvidia-docker2, rocker
  2. git clone https://github.com/f1tenth/f1tenth_gym_ros.git
  3. cd f1tenth_gym_ros
  4. sudo docker build -t f1tenth_gym_ros -f Dockerfile .
  5. sudo rocker --nvidia --x11 --volume .:/sim_ws/src/f1tenth_gym_ros -- f1tenth_gym_ros
  6. colcon build
  7. source /opt/ros/foxy/setup.bash
  8. source install/local_setup.bash
  9. ros2 launch f1tenth_gym_ros gym_bridge_launch.py

Expected behavior A clear and concise description of what you expected to happen.

Screenshots Screenshot_from_2022-07-04_18-45-13

Desktop (please complete the following information):

LukasMacha97 commented 2 years ago

I am having the same issue, it looks like the fram_id "map" that is published by the nav_server_map does not seem to be picked up. @hzheng40 any suggestions?

Nick-max commented 2 years ago

I also encountered the same problem.I both try with NVIDIA GPU and without it,but the robotmodel can't launch.I think the docker file maybe lost something.Could please tell us how to fix it？

2022-07-19 00-13-37屏幕截图

hzheng40 commented 2 years ago

This is usually not an issue with the robot model, but something before nav2 nodes are started. You can scroll all the way up to where the nodes are first launched and see what the error is. If you could please find that error I'll be able to help.

LukasMacha97 commented 2 years ago

Thanks, @hzheng40

I am getting these two errors, not sure which might be linked to the map issue as none of them are coming from the nav2_map_server, entire log in log.txt at the bottom of this comment.

image

image

The entire log is captured here:

log.txt

Cho-Hyeongrae commented 2 years ago

@lm2292

I got the same message as you.

hzheng40 commented 2 years ago

This is an issue with the NumPy version used by f1tenth_gym. It should already be fixed on that repo, you can try to rebuild the container with the --no-cache option and see if the problem persists.

LukasMacha97 commented 2 years ago

amazing, just tried it and all works, thanks for the help