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fmrico / book_ros2

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Unable to execute ros2 launch br2_tiago for foxy #20

Closed coredmas closed 1 year ago

coredmas commented 1 year ago

Important!!!

Type of bug

Issue Description

Hello, I have problems with chapter 2 " ros2 launch br2_tiago sim.launch.py". I get the following error messages:

ros2 launch br2_tiago sim.launch.py world:=small_office [INFO] [launch]: All log files can be found below /home/dmas/.ros/log/2023-05-21-20-46-57-013635-ubuntu-box-6636 [INFO] [launch]: Default logging verbosity is set to INFO Task exception was never retrieved future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=SubstitutionFailure('executed command failed. Command: /opt/ros/foxy/lib/xacro/xacro /home/dmas/ros2_ws/install/tiago_description/share/tiago_description/robots/tiago.urdf.xacro laser_model:=sick-571 arm:=right-arm end_effector:=pal-hey5 ft_sensor:=schunk-ft camera_model:=orbbec-astra')> Traceback (most recent call last): File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event await self.process_event(next_event) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in process_event visit_all_entities_and_collect_futures(entity, self.context)) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) [Previous line repeated 7 more times] File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures sub_entities = entity.visit(context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit return self.execute(context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 444, in execute self._perform_substitutions(context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 399, in _perform_substitutions evaluated_parameters = evaluate_parameters(context, self.parameters) File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 164, in evaluate_parameters output_params.append(evaluate_parameter_dict(context, param)) File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 71, in evaluate_parameter_dict evaluated_value = perform_substitutions(context, list(value)) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions return ''.join([context.perform_substitution(sub) for sub in subs]) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in return ''.join([context.perform_substitution(sub) for sub in subs]) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py", line 232, in perform_substitution return substitution.perform(self) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/substitutions/command.py", line 116, in perform raise SubstitutionFailure(f'executed command failed. Command: {command_str}') launch.substitutions.substitution_failure.SubstitutionFailure: executed command failed. Command: /opt/ros/foxy/lib/xacro/xacro /home/dmas/ros2_ws/install/tiago_description/share/tiago_description/robots/tiago.urdf.xacro laser_model:=sick-571 arm:=right-arm end_effector:=pal-hey5 ft_sensor:=schunk-ft camera_model:=orbbec-astra Task exception was never retrieved future: <Task finished name='Task-12' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=RuntimeError('Signal event received before subprocess transport available.')> Traceback (most recent call last): File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event await self.process_event(next_event) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in process_event visit_all_entities_and_collect_futures(entity, self.context)) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures sub_entities = entity.visit(context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit return self.execute(context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/opaque_function.py", line 75, in execute return self.function(context, *self.args, **self.kwargs) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 443, in __on_signal_process_event raise RuntimeError('Signal event received before subprocess transport available.') RuntimeError: Signal event received before subprocess transport available. [INFO] [gzserver-1]: process started with pid [6643] [INFO] [gzclient -2]: process started with pid [6645] [INFO] [gzserver-1]: sending signal 'SIGINT' to process[gzserver-1] [ERROR] [gzclient -2]: process[gzclient -2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [ERROR] [gzserver-1]: process[gzserver-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [INFO] [gzclient -2]: sending signal 'SIGTERM' to process[gzclient -2] [INFO] [gzserver-1]: sending signal 'SIGTERM' to process[gzserver-1] [ERROR] [gzclient -2]: process has died [pid 6645, exit code -15, cmd 'gzclient ']. [ERROR] [gzserver-1]: process has died [pid 6643, exit code -15, cmd 'gzserver /home/dmas/ros2_ws/install/pal_gazebo_worlds/share/pal_gazebo_worlds/worlds/small_office.world -s libgazebo_ros_init.so -s libgazebo_ros_factory.so -s libgazebo_ros_force_system.so '].

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fmrico commented 1 year ago

Hi @coredmas

I have just checked it and it is working in a fresh installation. Does the problem persist for you?

Best

phil123456 commented 1 year ago

as for me, I cannot even build it

I also had to install a gazillion tons of packages to avoid makefiles errors (even after running the vcs tools)

maybe you should try a fresh 20.04 install in a VM like I did, tons of things are missing/off

I also had to comment these missing ament_auto_find_test_dependencies functions in the make files

https://robotics.stackexchange.com/questions/103945/ubuntu-20-04-64bits-unknown-cmake-command-ament-auto-find-test-dependencies

play_motion2_msgs is nowhere to be found, on the system or in google (wtf???)

any help appreciated, I really wanna finish reading that book

--- stderr: tiago_gazebo                            
CMake Error at CMakeLists.txt:18 (find_package):
  By not providing "Findplay_motion2_msgs.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "play_motion2_msgs", but CMake did not find one.

  Could not find a package configuration file provided by "play_motion2_msgs"
  with any of the following names:

    play_motion2_msgsConfig.cmake
    play_motion2_msgs-config.cmake

  Add the installation prefix of "play_motion2_msgs" to CMAKE_PREFIX_PATH or
  set "play_motion2_msgs_DIR" to a directory containing one of the above
  files.  If "play_motion2_msgs" provides a separate development package or
  SDK, be sure it has been installed.
---
fmrico commented 1 year ago

Hi,

foxy-devel branch does not contain any dependency on play_motion2_* packages. So, @phil123456 's reply is not related to @coredmas 's problem.

main and humble-devel have dependencies with play_motion2_* packages, but you can easily install them by 

sudo apt install ros-humble-play-motion2*
fmrico commented 1 year ago

Closing this issue, as @coredmas are not showing activity. Please, reopen if you still have problems