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hanruihua / rvo_ros

The ros package of rvo library
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The agents not moving #1

Closed syahmi001 closed 4 years ago

syahmi001 commented 4 years ago

Hello and Hi

I am interested in your coding and wanted to use them in real robot navigation. I tested them in ROS Kinetic with ubuntu 16.04. The codes compiled successfully but when I run the services, the agents are not moving. They are only standing still forming a straight line.

I followed exactly your instruction, or did I missing something?

hanruihua commented 4 years ago

Hi, thanks for your attention.

First, each agent receives the velocity from the ros topic by a plugin located in the folder simulation/plugins. Thus, you should check whether the file _world_multiobs.cc is compiled successfully.

Second, if the file _world_multiobs.cc is compiled successfully, you should check the environment parameter GAZEBO_PLUGIN_PATH which is the path of the gazebo plugin (using echo $GAZEBO_PLUGIN_PATH). It should be set in the shell (bash or zsh ) and includes the path of plugins compiled in the previous step. The path is commonly ~/catkin_ws/devel/lib.

Actually, this code is also tested in ROS Kinetic with ubuntu 16.04 and it works well. However, in ubuntu 16.04, there may be a problem with the protoc version. The default version is 3.4, but for the gazebo, it should be protoc 2.6.1.

syahmi001 commented 4 years ago

Oh thanks for the swift reply!

Never thought my message would be replied this quickly. I have taken your advice and now it works wonderfully well!!!

My mistake was I forgot to write: export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/catkin_ws/devel/lib in my bashrc file.

Once I export them, they work pretty well. Thanks again!!! :)