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High-level Gazebo documentation that gets published to https://gazebosim.org/docs/
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Harmonic: Add information to reproduce demo in ros_gz_project_template #435

Open Ryanf55 opened 5 months ago

Ryanf55 commented 5 months ago

Desired behavior

The ros_gz_project_template docs explain how to build and install, but are missing the instructions how to move the diffdrive robot in this section/

Alternatives considered

I've spent two hours trying various methods, nothing seems to move the vehicle.

With this command, the vehicle moves in RVIZ, but not in gazebo.

ros2 topic pub /diff_drive/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.5}, angular: {z: 0.5}}"

Implementation suggestion

Add a small section to the end of the ros_gz_project_template_guide that explains the commands in terminal or through the gazebo UI to move the vehicle.

Additional context

Gazebo Version: Harmonic 8.2.0 OS: Ubuntu 22 Installation method: Binaries Discord chat: https://discord.com/channels/1077825543698927656/1080763334384697430/1230559471659388991

Bag is attached. rosbag2_2024_04_18-15_54_56.zip

Inspection shows the odometry is updating, so why doesn't gazebo UI show it moving?

Ryanf55 commented 5 months ago

Honestly, I'm pretty sure this demo is completely broken on harmonic. There are numerous warnings in logs about the SDF, RVIZ has problems, and there's this PR removing the clock topic.

azeey commented 5 months ago

What version of ROS were you using with Harmonic and how did you set it up? Did you build ros_gz from source?

Ryanf55 commented 5 months ago

What version of ROS were you using with Harmonic and how did you set it up? Did you build ros_gz from source?

Humble. I followed the README exactly as written, so yes, that's part of the repos file.

Ryanf55 commented 5 months ago

I'm on discord as ryanf and available for debugging if you need.

Ryanf55 commented 5 months ago

More info here: https://github.com/gazebosim/ros_gz_project_template/issues/25

oliviaseed commented 3 months ago

If you are using Jazzy (recommended for Harmonic), the DiffDriveController now requires a TwistStamped message (release notes)

see an example here