missing link for depth camera in simulation, broken robot_description

[Neathle]

I am simulating the ROSBOT2 in humble, using the docker image provided, and using the simulation.launch.py provided as well in the repo. When I launch the simulation, everything works correctly, except the depth camera, which appears to be missing a link to the rest of the robot. The depth camera has created its own tree: /rosbot/base_link/orbbec_astra_camera. Instead of using the depth link to publish.

Robot_description is also broken, as it can be seen in the image. I tried with rviz2 as well and it simply doesn't display the robot. I solved the first issue by manually linking both frames in the /tf_static topic, but this should be corrected. I include the generated urdf from doing xacro /ros2_ws/src/rosbot_description/urdf/rosbot.urdf.xacro:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /ros2_ws/src/rosbot_description/urdf/rosbot.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="rosbot">
  <link name="base_link"/>
  <joint name="base_to_body_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0425"/>
    <parent link="base_link"/>
    <child link="body_link"/>
  </joint>
  <link name="body_link">
    <visual>
      <geometry>
        <mesh filename="file:///ros2_ws/install/rosbot_description/share/rosbot_description/meshes/body.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="1.5707963267948966 0.0 1.5707963267948966" xyz="0.0 0.0 -0.0173"/>
      <material name="White">
        <color rgba="1.0 1.0 1.0 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size="0.197 0.150 0.080"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.02"/>
    </collision>
    <inertial>
      <mass value="1.728"/>
      <inertia ixx="0.004162" ixy="0.0" ixz="0.0" iyy="0.00651" iyz="0.0" izz="0.008828"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.02"/>
    </inertial>
  </link>
  <gazebo reference="body_link">
    <material>Gazebo/White</material>
  </gazebo>
  <joint name="body_to_cover_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0603"/>
    <parent link="body_link"/>
    <child link="cover_link"/>
  </joint>
  <link name="cover_link">
    <visual>
      <geometry>
        <mesh filename="file:///ros2_ws/install/rosbot_description/share/rosbot_description/meshes/cover.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="1.5707963267948966 0.0 1.5707963267948966" xyz="0.0 0.0 -0.002"/>
      <material name="Red">
        <color rgba="0.8 0.0 0.0 1.0"/>
      </material>
    </visual>
    <gazebo reference="cover_link">
      <material>Gazebo/Red</material>
    </gazebo>
  </link>
  <joint name="body_to_imu_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.003 -0.0495 0.04332"/>
    <parent link="body_link"/>
    <child link="imu_link"/>
  </joint>
  <link name="imu_link"/>
  <joint name="body_to_camera_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="-0.0141 0.0 0.125"/>
    <parent link="body_link"/>
    <child link="camera_link"/>
  </joint>
  <link name="camera_link"/>
  <joint name="body_link_fl_range_joint" type="fixed">
    <origin rpy="0.0 0.0 0.2181661564992912" xyz="0.0926  0.05 0.015"/>
    <parent link="body_link"/>
    <child link="fl_range"/>
  </joint>
  <link name="fl_range"/>
  <joint name="body_link_fr_range_joint" type="fixed">
    <origin rpy="0.0 0.0 -0.2181661564992912" xyz="0.0926 -0.05 0.015"/>
    <parent link="body_link"/>
    <child link="fr_range"/>
  </joint>
  <link name="fr_range"/>
  <joint name="body_link_rl_range_joint" type="fixed">
    <origin rpy="0.0 0.0 2.923426497090502" xyz="-0.0926 0.05 0.0115"/>
    <parent link="body_link"/>
    <child link="rl_range"/>
  </joint>
  <link name="rl_range"/>
  <joint name="body_link_rr_range_joint" type="fixed">
    <origin rpy="0.0 0.0 3.3597588100890845" xyz="-0.0926 -0.05 0.0115"/>
    <parent link="body_link"/>
    <child link="rr_range"/>
  </joint>
  <link name="rr_range"/>
  <joint name="fr_wheel_joint" type="continuous">
    <parent link="body_link"/>
    <child link="fr_wheel_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.053 -0.096 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="1.5" velocity="5.0"/>
    <dynamics damping="0.001" friction="0.001"/>
  </joint>
  <link name="fr_wheel_link">
    <visual>
      <geometry>
        <mesh filename="file:///ros2_ws/install/rosbot_description/share/rosbot_description/meshes/wheel_a.dae" scale="1.0 1.0 1.0"/>
      </geometry>
      <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.036" radius="0.0425"/>
      </geometry>
      <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </collision>
    <inertial>
      <mass value="0.074"/>
      <inertia ixx="4.1e-05" ixy="0.0" ixz="0.0" iyy="6.7e-05" iyz="0.0" izz="4.1e-05"/>
    </inertial>
  </link>
  <gazebo reference="fr_wheel_link" xmlns:ignition="http://ignitionrobotics.org/schema">
    <collision>
      <surface>
        <friction>
          <ode>
            <mu>1.0</mu>
            <mu2>0.0</mu2>
            <fdir1 ignition:expressed_in="base_link">1.0 1.0 0.0</fdir1>
          </ode>
        </friction>
      </surface>
    </collision>
  </gazebo>
  <joint name="fl_wheel_joint" type="continuous">
    <parent link="body_link"/>
    <child link="fl_wheel_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.053 0.096 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="1.5" velocity="5.0"/>
    <dynamics damping="0.001" friction="0.001"/>
  </joint>
  <link name="fl_wheel_link">
    <visual>
      <geometry>
        <mesh filename="file:///ros2_ws/install/rosbot_description/share/rosbot_description/meshes/wheel_b.dae" scale="1.0 1.0 1.0"/>
      </geometry>
      <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.036" radius="0.0425"/>
      </geometry>
      <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </collision>
    <inertial>
      <mass value="0.074"/>
      <inertia ixx="4.1e-05" ixy="0.0" ixz="0.0" iyy="6.7e-05" iyz="0.0" izz="4.1e-05"/>
    </inertial>
  </link>
  <gazebo reference="fl_wheel_link" xmlns:ignition="http://ignitionrobotics.org/schema">
    <collision>
      <surface>
        <friction>
          <ode>
            <mu>1.0</mu>
            <mu2>0.0</mu2>
            <fdir1 ignition:expressed_in="base_link">1.0 -1.0 0.0</fdir1>
          </ode>
        </friction>
      </surface>
    </collision>
  </gazebo>
  <joint name="rl_wheel_joint" type="continuous">
    <parent link="body_link"/>
    <child link="rl_wheel_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.053 0.096 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="1.5" velocity="5.0"/>
    <dynamics damping="0.001" friction="0.001"/>
  </joint>
  <link name="rl_wheel_link">
    <visual>
      <geometry>
        <mesh filename="file:///ros2_ws/install/rosbot_description/share/rosbot_description/meshes/wheel_a.dae" scale="1.0 1.0 1.0"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.036" radius="0.0425"/>
      </geometry>
      <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </collision>
    <inertial>
      <mass value="0.074"/>
      <inertia ixx="4.1e-05" ixy="0.0" ixz="0.0" iyy="6.7e-05" iyz="0.0" izz="4.1e-05"/>
    </inertial>
  </link>
  <gazebo reference="rl_wheel_link" xmlns:ignition="http://ignitionrobotics.org/schema">
    <collision>
      <surface>
        <friction>
          <ode>
            <mu>1.0</mu>
            <mu2>0.0</mu2>
            <fdir1 ignition:expressed_in="base_link">1.0 1.0 0.0</fdir1>
          </ode>
        </friction>
      </surface>
    </collision>
  </gazebo>
  <joint name="rr_wheel_joint" type="continuous">
    <parent link="body_link"/>
    <child link="rr_wheel_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.053 -0.096 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="1.5" velocity="5.0"/>
    <dynamics damping="0.001" friction="0.001"/>
  </joint>
  <link name="rr_wheel_link">
    <visual>
      <geometry>
        <mesh filename="file:///ros2_ws/install/rosbot_description/share/rosbot_description/meshes/wheel_b.dae" scale="1.0 1.0 1.0"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.036" radius="0.0425"/>
      </geometry>
      <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </collision>
    <inertial>
      <mass value="0.074"/>
      <inertia ixx="4.1e-05" ixy="0.0" ixz="0.0" iyy="6.7e-05" iyz="0.0" izz="4.1e-05"/>
    </inertial>
  </link>
  <gazebo reference="rr_wheel_link" xmlns:ignition="http://ignitionrobotics.org/schema">
    <collision>
      <surface>
        <friction>
          <ode>
            <mu>1.0</mu>
            <mu2>0.0</mu2>
            <fdir1 ignition:expressed_in="base_link">1.0 -1.0 0.0</fdir1>
          </ode>
        </friction>
      </surface>
    </collision>
  </gazebo>
  <ros2_control name="imu" type="sensor">
    <hardware>
      <plugin>rosbot_hardware_interfaces/RosbotImuSensor</plugin>
      <param name="connection_timeout_ms">120000</param>
      <param name="connection_check_period_ms">500</param>
    </hardware>
    <sensor name="imu">
      <state_interface name="orientation.x"/>
      <state_interface name="orientation.y"/>
      <state_interface name="orientation.z"/>
      <state_interface name="orientation.w"/>
      <state_interface name="angular_velocity.x"/>
      <state_interface name="angular_velocity.y"/>
      <state_interface name="angular_velocity.z"/>
      <state_interface name="linear_acceleration.x"/>
      <state_interface name="linear_acceleration.y"/>
      <state_interface name="linear_acceleration.z"/>
    </sensor>
  </ros2_control>
  <ros2_control name="wheels" type="system">
    <hardware>
      <plugin>rosbot_hardware_interfaces/RosbotSystem</plugin>
      <param name="connection_timeout_ms">120000</param>
      <param name="connection_check_period_ms">500</param>
      <!-- order of velocity commands to be published in motors_cmd Float32MultiArray msg -->
      <param name="velocity_command_joint_order">
                rr_wheel_joint,
                rl_wheel_joint,
                fr_wheel_joint,
                fl_wheel_joint
          </param>
    </hardware>
    <joint name="fl_wheel_joint">
      <command_interface name="velocity"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
    <joint name="fr_wheel_joint">
      <command_interface name="velocity"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
    <joint name="rl_wheel_joint">
      <command_interface name="velocity"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
    <joint name="rr_wheel_joint">
      <command_interface name="velocity"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
  </ros2_control>
  <joint name="cover_to_slamtec_rplidar_a2_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.02 0.0 0.0"/>
    <parent link="cover_link"/>
    <child link="slamtec_rplidar_a2_link"/>
  </joint>
  <link name="slamtec_rplidar_a2_link">
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file:///ros2_ws/install/ros_components_description/share/ros_components_description/meshes/slamtec_rplidar_ax.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0205"/>
      <geometry>
        <cylinder length="0.041" radius="0.038"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0205"/>
      <mass value="0.190"/>
      <inertia ixx="0.000095206" ixy="0.0" ixz="0.0" iyy="0.000095206" iyz="0.0" izz="0.00013718"/>
    </inertial>
  </link>
  <joint name="slamtec_rplidar_a2_to_laser_joint" type="fixed">
    <origin rpy="0.0 0.0 3.141592653589793" xyz="0.0 0.0 0.031"/>
    <parent link="slamtec_rplidar_a2_link"/>
    <child link="laser"/>
  </joint>
  <link name="laser"/>
  <joint name="camera_to_orbbec_astra_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <parent link="camera_link"/>
    <child link="orbbec_astra_link"/>
  </joint>
  <link name="orbbec_astra_link">
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file:///ros2_ws/install/ros_components_description/share/ros_components_description/meshes/orbbec_astra.dae"/>
      </geometry>
    </visual>
    <!-- camera module collision -->
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0024999999999999988 0.0 0.034"/>
      <geometry>
        <box size="0.04 0.165 0.03"/>
      </geometry>
    </collision>
    <!-- mounting base model collision -->
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="-0.006499999999999999 0.0 0.0095"/>
      <geometry>
        <box size="0.06 0.06 0.019"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.028999999999999998"/>
      <mass value="0.300"/>
      <inertia ixx="0.00073916" ixy="0.0" ixz="0.0" iyy="0.00015435" iyz="0.0" izz="0.00077395"/>
    </inertial>
  </link>
  <joint name="orbbec_astra_to_depth_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0.01 0.0 0.035"/>
    <parent link="orbbec_astra_link"/>
    <child link="depth"/>
  </joint>
  <link name="depth"/>
</robot>

[delihus]

Hi @Neathle, thank you for the report. We know about the issue with the rosbot_description. Actually it is an error in Foxglove. In rviz2 the meshes are correct. To fix this you can use our docker container with the Foxglove from https://github.com/husarion/foxglove-docker/ or you can apply the replacement of the meshes angles in the urdf.

# Changing rotation is cause by .stl files in rosbot_ros/rosbot_description. We will change it to the .dae files.
sed -i 's/rpy=\"1.5707963267948966 0.0 1.5707963267948966\"/rpy=\"0.0 0.0 1.5707963267948966\"/g' /rosbot.urdf

I will look at the depth camera plugin and find out whats wrong.

Best regards, JD

[Neathle]

Thank you very much! I have switched back to rviz for now, but I will try that fix to see if foxglove is viable. The problem with the depth camera is still there even in rviz.

[delihus]

Hi @Neathle, I looked at the issue and it seems like this problem https://github.com/gazebosim/gz-sensors/issues/239. It is on gazebo side and as I see they fixed this here https://github.com/gazebosim/gz-sensors/pull/350 but only for gz-sensors7 but we are using the ign-sensors6.

I made propose workaround for now here https://github.com/husarion/rosbot_ros/tree/ros2-ign-camera-fix. As I see the rviz2 has issues with display the depth image in this format... But rqt_image_viewer works perfect...

Please inform me if the solution works for you and feel free to reach out if you need any further assistance. Best regards, JD

[delihus]

I'm closing due to inactivity. If the issue is still valid, please reopen it.