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gazebosim / ros_gz

Integration between ROS (1 and 2) and Gazebo simulation
https://gazebosim.org
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Parameter_bridge does not work #365

Closed rows-of-houses closed 1 year ago

rows-of-houses commented 1 year ago

Environment

Description

Steps to reproduce

First terminal

  1. gz sim world.sdf
  2. Run simulation

Second terminal

  1. cd <bridge_workspace>
  2. . install/setup.bash
  3. ros2 run ros_gz_bridge parameter_bridge /imu/data_raw@sensor_msgs/msg/Imu[gz.msgs.IMU

Third terminal

  1. cd <bridge_workspace>
  2. . install/setup.bash
  3. ros2 topic echo /imu/data_raw

Output

/imu/data_raw topic is empty

mjcarroll commented 1 year ago

Can you try using the humble branch, which is recommended for that combination.

https://github.com/gazebosim/ros_gz/blob/e7660f83be0447fe44c1240df2c6468364d2fd24/README.md?plain=1#L10

rows-of-houses commented 1 year ago

I tried using humble branch, but it also didn't work. After ros2 run ros_gz_bridge parameter_bridge /imu/data_raw@sensor_msgs/msg/Imu[gz.msgs.IMU I got [INFO] [1677239017.350256340] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/imu/data_raw (gz.msgs.IMU) -> /imu/data_raw (sensor_msgs/msg/Imu)] (Lazy 0), but there is still no messages in /imu/data_raw ROS2 topic. But I see messages in Gazebo topic.

rows-of-houses commented 1 year ago

I tried to run imu.launch.py from demos of humble branch. If I launch it without any changes, everything works nice, but Gazebo 6 is launched (I need Gazebo 7). In the console output there are lines:

[parameter_bridge-2] [INFO] [1677577587.087082303] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/imu (gz.msgs.IMU) -> /imu (sensor_msgs/msg/Imu)] (Lazy 0)
[parameter_bridge-2] [INFO] [1677577587.093286646] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/imu (sensor_msgs/msg/Imu) -> /imu (gz.msgs.IMU)] (Lazy 0)

Are these messages correct? I think there should be msg types of ignition.

I added next strings to gz_sim.launch.py (which is referred by launch file of IMU):

print(env)
print(gz_args)
print(gz_version)
print(ign_args)
print(ign_version)
print(debugger)

Output is:

{'GZ_SIM_SYSTEM_PLUGIN_PATH': 
':/home/username/humble_gz_ws/install/ros_ign_interfaces/lib:
/home/username/humble_gz_ws/install/ros_gz_sim/lib:
/home/username/humble_gz_ws/install/ros_gz_bridge/lib:
/home/username/humble_gz_ws/install/ros_gz_interfaces/lib:
/opt/ros/humble/opt/rviz_ogre_vendor/lib:
/opt/ros/humble/lib/x86_64-linux-gnu
:/opt/ros/humble/lib',

 'IGN_GAZEBO_SYSTEM_PLUGIN_PATH': 
 ':/home/username/humble_gz_ws/install/ros_ign_interfaces/lib
 :/home/username/humble_gz_ws/install/ros_gz_sim/lib:
 /home/username/humble_gz_ws/install/ros_gz_bridge/lib:
 /home/username/humble_gz_ws/install/ros_gz_interfaces/lib:
 /opt/ros/humble/opt/rviz_ogre_vendor/lib:
 /opt/ros/humble/lib/x86_64-linux-gnu:
 /opt/ros/humble/lib'}

-r sensors.sdf
6

false

If I try to specify gz_version in launch arguments of imu.launch.py:

gz_sim = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
        launch_arguments={
            'gz_args': '-r sensors.sdf', 'gz_version': '7'
        }.items(),
    )

and launch the IMU launch file, it actually launches Gazebo 7, but there is no messages in ROS2 topic /imu. Console output:

[INFO] [launch]: All log files can be found below /home/username/.ros/log/2023-02-28-13-15-21-757298-username-pc-68226
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ruby $(which gz) sim-1]: process started with pid [68228]
[INFO] [parameter_bridge-2]: process started with pid [68230]
[INFO] [rqt_topic-3]: process started with pid [68233]
[parameter_bridge-2] [INFO] [1677579322.213397669] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/imu (gz.msgs.IMU) -> /imu (sensor_msgs/msg/Imu)] (Lazy 0)
[parameter_bridge-2] [INFO] [1677579322.220332381] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/imu (sensor_msgs/msg/Imu) -> /imu (gz.msgs.IMU)] (Lazy 0)
[ruby $(which gz) sim-1] 
[ruby $(which gz) sim-1] Using deprecated environment variable [IGN_GAZEBO_RESOURCE_PATH].
[ruby $(which gz) sim-1] Please use [GZ_SIM_RESOURCE_PATH] instead.
[ruby $(which gz) sim-1] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[ruby $(which gz) sim-1] Warning [Utils.cc:130] [/sdf/world[@name="sensors"]/model[@name="force_torque_demo"]/link[@name="base_plate"]/static:/usr/share/gz/gz-sim7/worlds/sensors.sdf:L209]: XML Element[static], child of element[link], not defined in SDF. Copying[static] as children of [link].
[ruby $(which gz) sim-1] Warning [Utils.cc:130] [/sdf/model[@name="force_torque_demo"]/link[@name="base_plate"]/static:<data-string>:L3]: XML Element[static], child of element[link], not defined in SDF. Copying[static] as children of [link].
[ruby $(which gz) sim-1] Warning [Utils.cc:130] [/sdf/model[@name="force_torque_demo"]/link[@name="base_plate"]/static:<data-string>:L3]: XML Element[static], child of element[link], not defined in SDF. Copying[static] as children of [link].

There is also /lidar/points topic, but I don't know what has spawned it. image

I added new enviromental variable: export GZ_SIM_RESOURCE_PATH=/home/username/humble_gz_ws/install/ros_gz_sim_demos/share but it didn't help.

UPD: I noticed that in files /home/username/humble_gz_ws/install/ros_gz_sim_demos/share/ament_index/resource_index/parent_prefix_path/ros_gz_sim_demos, /home/username/humble_gz_ws/install/ros_gz_sim_demos/share/ament_index/resource_index/package_run_dependencies/ros_gz_sim_demos and /home/username/humble_gz_ws/install/ros_gz_sim_demos/share/colcon-core/packages/ros_gz_sim_demos only ignition-gazebo6 package mentioned, but there is no any package referred to Gazebo 7. Is it crucial problem? How can I solve it? By the way, rosdep install -i --from-path src --rosdistro humble -y shows that All required rosdeps installed successfully.

azeey commented 1 year ago

I would suggest using the humble branch since the caguery/humble_garden branch is quite outdated now (https://github.com/gazebosim/ros_gz/compare/caguero/humble_garden..humble). If your build crashes, it's probably due to insufficient memory and following the suggestion in https://github.com/gazebosim/ros_gz/issues/235#issuecomment-1093124301 might help

doppioandante commented 1 year ago

I am having the same problem, using the humble branch, the bridge seems to actually make the topics visible from either side but no message is being delivered, I'm trying the standard chatter message. Btw the doc is outdated and uses ignition message types

doppioandante commented 1 year ago

This is a reproducible Dockerfile with the configuration and build steps I'm using:

FROM osrf/ros:humble-desktop

RUN apt-get update
RUN apt-get install kakoune wget gnupg apt-utils -y
RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
RUN apt-get update

RUN apt-get install gz-sim7-cli libgz-transport12-dev libgz-math7-dev libgz-cmake3-dev libignition-cmake2-dev -y

RUN useradd --create-home --shell /bin/bash ros2

USER ros2
WORKDIR /home/ros2
RUN rosdep update
RUN mkdir -p /home/ros2/ws/src/
RUN cd /home/ros2/ws/src/ && git clone --depth 1 -b humble https://github.com/gazebosim/ros_gz.git 

USER root
WORKDIR /home/ros2/ws
RUN rosdep install -r --from-paths src -i -y --rosdistro humble

RUN echo "source /opt/ros/humble/setup.bash" >> /home/ros2/.bashrc
WORKDIR /home/ros2/ws
RUN bash -c "source /opt/ros/humble/setup.bash && colcon build"

RUN apt-get install gz-garden -y
USER ros2
RUN echo "source /home/ros2/ws/install/setup.bash" >> /home/ros2/.bashrc
azeey commented 1 year ago

Can you try exporting the Gazebo version (GZ_VERSION) per https://github.com/gazebosim/ros_gz/tree/humble#gazebo

doppioandante commented 1 year ago

Can you try exporting the Gazebo version (GZ_VERSION) per https://github.com/gazebosim/ros_gz/tree/humble#gazebo

Wow thanks, I had missed that. It seems to be working now, at least the basic chatter message.

As a side note, rosdep doesn't seem so good at finding all the dependencies, I had to install some dev packages manually, but I'm very new to the whole ROS ecosystem so there may be something missing.

I haven't cleaned this up yet, but I guess it could be useful for someone:

FROM osrf/ros:humble-desktop

RUN apt-get update
RUN apt-get install kakoune wget gnupg apt-utils -y
RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
RUN apt-get update

RUN apt-get install gz-sim7-cli libgz-transport12-dev libgz-math7-dev libgz-cmake3-dev libignition-cmake2-dev libgz-sim7-dev -y

RUN useradd --create-home --shell /bin/bash ros2

USER ros2
WORKDIR /home/ros2
RUN rosdep update
RUN mkdir -p /home/ros2/ws/src/
RUN cd /home/ros2/ws/src/ && git clone --depth 1 -b humble https://github.com/gazebosim/ros_gz.git 

USER root
WORKDIR /home/ros2/ws
ENV GZ_VERSION=garden
RUN rosdep install -r --from-paths src -i -y --rosdistro humble

RUN echo "source /opt/ros/humble/setup.bash" >> /home/ros2/.bashrc
WORKDIR /home/ros2/ws
RUN bash -c "source /opt/ros/humble/setup.bash && colcon build"

RUN apt-get install gz-garden -y
USER ros2
RUN echo "source /home/ros2/ws/install/setup.bash" >> /home/ros2/.bashrc

I can't make a host gz sim instance talk to the dockerized gz bridge, as was in my original plans, but I guess I'll just go on with using gz sim from inside docker. (Yes I tried sharing the same host network for everything.. didn't work)

azeey commented 1 year ago

Wow thanks, I had missed that. It seems to be working now, at least the basic chatter message.

Glad it works! And thanks for the reproducible Dockerfile.

As a side note, rosdep doesn't seem so good at finding all the dependencies, I had to install some dev packages manually, but I'm very new to the whole ROS ecosystem so there may be something missing.

We need to link this in the readme here, but there are some instructions for rosdep issues at https://gazebosim.org/docs/garden/ros_installation

@rows-of-houses can you try my suggestion in https://github.com/gazebosim/ros_gz/issues/365#issuecomment-1460937619

azeey commented 1 year ago

@tommysmth Have you built ros_gz from source using GZ_VERSION=garden?

azeey commented 1 year ago

Closing since the issue was resolved by setting GZ_VERSION=garden when compiling ros_gz.