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iRobotEducation / create3_sim

ROS 2 Simulation for the iRobot® Create® 3 Educational Robot
BSD 3-Clause "New" or "Revised" License
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Sim doesn't realize goals are complete - and no data on /odom #201

Closed tay-bird closed 1 year ago

tay-bird commented 1 year ago

Describe the bug I'm running create3_sim in a Humble docker environment. There are no messages published on /odom and I'm seeing some goals behaving unexpectedly: when a goal involves rotating or driving, that behaviour continues forever without stopping.

I'm pretty new to ros + the create3, but it seems like the sim is supposed to publish to /odom but isn't, which causes the goals to never complete. Is this a bug in the sim, or did I set something up wrong?

To Reproduce Steps to reproduce the behavior:

  1. Create Dockerfile from the create3-docker example:

    docker build -t create3-sim:latest

  2. Run the new Dockerfile:

    docker run -it create3-sim:latest bash

  3. In the container, start the sim:

    source /opt/ros/humble/setup.bash
source /root/create3_ws/install/local_setup.bash
ros2 launch irobot_create_gazebo_bringup create3_gazebo.launch.py

  4. In a new terminal, run a second copy of the image.

    docker run -it create3-sim:latest bash

  5. In the second container, tell the sim to undock and navigate to position:

    apt update && apt install -y ros-${ROS_DISTRO}-irobot-create-msgs
ros2 action send_goal /undock irobot_create_msgs/action/Undock "{}"
ros2 action send_goal /navigate_to_position irobot_create_msgs/action/NavigateToPosition "{achieve_goal_heading: true,goal_pose:{pose:{position:{x: 1,y: 0.2,z: 0.0}, orientation:{x: 0.0,y: 0.0, z: 0.0, w: 1.0}}}}"

  6. Observe the sim undock successfully, but get stuck spinning forever trying to find the goal heading.

  7. Observe the odom topic not publishing:

    ros2 topic echo /odom

Expected behavior

Screenshots Screen Shot 2023-02-12 at 11 20 33 AM Screen Shot 2023-02-12 at 11 21 48 AM

Additional context In rviz, there are error messages for left_wheel and right_wheel that no transforms to odom are present.

alsora commented 1 year ago

Is your issue consistently reproducible? Can you post the log that you see in the terminal where you are running ros2 launch irobot_create_gazebo_bringup create3_gazebo.launch.py ?

jonliberal commented 1 year ago

I'm facing exactly the same issue on my Ubuntu 22.04 machine running ROS2 Humble. The Dock and Undock goals work fine however.

alsora commented 1 year ago

@jonliberal what is the "same exact issue" that you are referring to?

jonliberal commented 1 year ago

@jonliberal what is the "same exact issue" that you are referring to?

I'm not seeing data published to /odom topic. And Drive Goals (tested Drive Arc, Rotate Angle, Navigate to Position) are never completed: the robot initiates movement (e.g. rotate around itself for Rotate Angle) and never stops.

alsora commented 1 year ago

Ok, it's strange then that you are able to dock/undock successfully. Please post a log from the terminal where you are running the gazebo launch file. We will try to reproduce and look for a fix.

tay-bird commented 1 year ago

Hi, thanks for the quick responses. This is 100% reproducible for me - I can share my Dockerfile / docker-compose.yml as well if that's helpful. This is also 100% reproducible in the following conditions:

My environment isn't powerful enough to run the Ignition sim, so not sure if it's happening there.

Here's the logs from my docker compose session. This is with classic Gazebo. You'll see that the last message confirms the receipt of the goal. I left the terminal open for ~10 minutes after that point, but no additional log messages were generated.

socks-socks-1  | [INFO] [launch]: All log files can be found below /root/.ros/log/2023-02-13-09-20-47-289488-6312b648d119-1
socks-socks-1  | [INFO] [launch]: Default logging verbosity is set to INFO
socks-socks-1  | [INFO] [gzserver-1]: process started with pid [54]
socks-socks-1  | [INFO] [gzclient-2]: process started with pid [56]
socks-socks-1  | [INFO] [joint_state_publisher-3]: process started with pid [58]
socks-socks-1  | [INFO] [robot_state_publisher-4]: process started with pid [60]
socks-socks-1  | [INFO] [static_transform_publisher-5]: process started with pid [62]
socks-socks-1  | [INFO] [static_transform_publisher-6]: process started with pid [64]
socks-socks-1  | [INFO] [spawn_entity.py-7]: process started with pid [66]
socks-socks-1  | [INFO] [spawn_entity.py-8]: process started with pid [79]
socks-socks-1  | [INFO] [robot_state_publisher-9]: process started with pid [98]
socks-socks-1  | [INFO] [static_transform_publisher-10]: process started with pid [102]
socks-socks-1  | [INFO] [spawner-11]: process started with pid [106]
socks-socks-1  | [INFO] [hazards_vector_publisher-12]: process started with pid [118]
socks-socks-1  | [INFO] [ir_intensity_vector_publisher-13]: process started with pid [127]
socks-socks-1  | [INFO] [motion_control-14]: process started with pid [130]
socks-socks-1  | [INFO] [wheel_status_publisher-15]: process started with pid [134]
socks-socks-1  | [INFO] [mock_publisher-16]: process started with pid [137]
socks-socks-1  | [INFO] [robot_state-17]: process started with pid [142]
socks-socks-1  | [INFO] [kidnap_estimator_publisher-18]: process started with pid [151]
socks-socks-1  | [INFO] [ui_mgr-19]: process started with pid [162]
socks-socks-1  | [INFO] [rviz2-20]: process started with pid [166]
socks-socks-1  | [robot_state_publisher-4] [WARN] [1676308848.313785434] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.313953590] [robot_state_publisher]: got segment base_link
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314043726] [robot_state_publisher]: got segment bump_front_center
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314049586] [robot_state_publisher]: got segment bump_front_left
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314053383] [robot_state_publisher]: got segment bump_front_right
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314057010] [robot_state_publisher]: got segment bump_left
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314060747] [robot_state_publisher]: got segment bump_right
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314064291] [robot_state_publisher]: got segment bumper
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314067767] [robot_state_publisher]: got segment button_1
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314071264] [robot_state_publisher]: got segment button_2
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314074610] [robot_state_publisher]: got segment button_power
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314078174] [robot_state_publisher]: got segment cliff_front_left
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314081702] [robot_state_publisher]: got segment cliff_front_right
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314085489] [robot_state_publisher]: got segment cliff_side_left
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314089192] [robot_state_publisher]: got segment cliff_side_right
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314092595] [robot_state_publisher]: got segment front_caster_link
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314096026] [robot_state_publisher]: got segment imu_link
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314099428] [robot_state_publisher]: got segment ir_intensity_front_center_left
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314103184] [robot_state_publisher]: got segment ir_intensity_front_center_right
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314106555] [robot_state_publisher]: got segment ir_intensity_front_left
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314109958] [robot_state_publisher]: got segment ir_intensity_front_right
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314113637] [robot_state_publisher]: got segment ir_intensity_left
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314117219] [robot_state_publisher]: got segment ir_intensity_right
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314120744] [robot_state_publisher]: got segment ir_intensity_side_left
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314124310] [robot_state_publisher]: got segment ir_omni
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314127957] [robot_state_publisher]: got segment left_wheel
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314131435] [robot_state_publisher]: got segment mouse
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314134842] [robot_state_publisher]: got segment right_wheel
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314138399] [robot_state_publisher]: got segment wheel_drop_left
socks-socks-1  | [robot_state_publisher-4] [INFO] [1676308848.314152133] [robot_state_publisher]: got segment wheel_drop_right
socks-socks-1  | [static_transform_publisher-5] [INFO] [1676308848.293407409] [left_wheel_drop_stf]: Spinning until stopped - publishing transform
socks-socks-1  | [static_transform_publisher-5] translation: ('0.000000', '0.116500', '0.040200')
socks-socks-1  | [static_transform_publisher-5] rotation: ('-0.707073', '0.000000', '0.000000', '0.707141')
socks-socks-1  | [static_transform_publisher-5] from 'base_link' to 'wheel_drop_left'
socks-socks-1  | [static_transform_publisher-6] [INFO] [1676308848.305120923] [right_wheel_drop_stf]: Spinning until stopped - publishing transform
socks-socks-1  | [static_transform_publisher-6] translation: ('0.000000', '-0.116500', '0.040200')
socks-socks-1  | [static_transform_publisher-6] rotation: ('-0.707073', '0.000000', '0.000000', '0.707141')
socks-socks-1  | [static_transform_publisher-6] from 'base_link' to 'wheel_drop_right'
socks-socks-1  | [robot_state_publisher-9] [WARN] [1676308848.399275978] [kdl_parser]: The root link std_dock_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
socks-socks-1  | [robot_state_publisher-9] [INFO] [1676308848.399363342] [dock_state_publisher]: got segment green_buoy_link
socks-socks-1  | [robot_state_publisher-9] [INFO] [1676308848.399497941] [dock_state_publisher]: got segment halo_link
socks-socks-1  | [robot_state_publisher-9] [INFO] [1676308848.399516865] [dock_state_publisher]: got segment red_buoy_link
socks-socks-1  | [robot_state_publisher-9] [INFO] [1676308848.399523323] [dock_state_publisher]: got segment std_dock_link
socks-socks-1  | [robot_state_publisher-9] [INFO] [1676308848.399529204] [dock_state_publisher]: got segment yellow_buoy_link
socks-socks-1  | [static_transform_publisher-10] [WARN] [1676308848.312042389] []: Old-style arguments are deprecated; see --help for new-style arguments
socks-socks-1  | [static_transform_publisher-10] [INFO] [1676308848.412450247] [tf_odom_std_dock_link_publisher]: Spinning until stopped - publishing transform
socks-socks-1  | [static_transform_publisher-10] translation: ('0.157000', '0.000000', '0.000000')
socks-socks-1  | [static_transform_publisher-10] rotation: ('-0.000000', '0.000000', '1.000000', '-0.000004')
socks-socks-1  | [static_transform_publisher-10] from 'odom' to 'std_dock_link'
socks-socks-1  | [hazards_vector_publisher-12] [INFO] [1676308848.504217453] [hazards_vector_publisher]: Advertised topic: /hazard_detection
socks-socks-1  | [hazards_vector_publisher-12] [INFO] [1676308848.514193108] [hazards_vector_publisher]: Subscription to topic: _internal/bumper/event
socks-socks-1  | [hazards_vector_publisher-12] [INFO] [1676308848.519226896] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_left/event
socks-socks-1  | [hazards_vector_publisher-12] [INFO] [1676308848.524914651] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_right/event
socks-socks-1  | [hazards_vector_publisher-12] [INFO] [1676308848.527909970] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_left/event
socks-socks-1  | [hazards_vector_publisher-12] [INFO] [1676308848.533699946] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_right/event
socks-socks-1  | [hazards_vector_publisher-12] [INFO] [1676308848.543257626] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/left_wheel/event
socks-socks-1  | [hazards_vector_publisher-12] [INFO] [1676308848.551821465] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/right_wheel/event
socks-socks-1  | [hazards_vector_publisher-12] [INFO] [1676308848.566272095] [hazards_vector_publisher]: Subscription to topic: _internal/backup_limit
socks-socks-1  | [ir_intensity_vector_publisher-13] [INFO] [1676308848.570574455] [ir_intensity_vector_publisher]: Advertised topic: /ir_intensity
socks-socks-1  | [ir_intensity_vector_publisher-13] [INFO] [1676308848.583327620] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_left
socks-socks-1  | [ir_intensity_vector_publisher-13] [INFO] [1676308848.586692108] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_right
socks-socks-1  | [ir_intensity_vector_publisher-13] [INFO] [1676308848.593230947] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_left
socks-socks-1  | [ir_intensity_vector_publisher-13] [INFO] [1676308848.601566530] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_right
socks-socks-1  | [ir_intensity_vector_publisher-13] [INFO] [1676308848.605898235] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_left
socks-socks-1  | [ir_intensity_vector_publisher-13] [INFO] [1676308848.613021123] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_right
socks-socks-1  | [ir_intensity_vector_publisher-13] [INFO] [1676308848.618925656] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_side_left
socks-socks-1  | [mock_publisher-16] [INFO] [1676308848.740929200] [mock_publisher]: Advertised mocked topic: /slip_status
socks-socks-1  | [wheel_status_publisher-15] [INFO] [1676308848.855197017] [wheel_status_publisher]: Advertised topic: /wheel_vels
socks-socks-1  | [wheel_status_publisher-15] [INFO] [1676308848.861758916] [wheel_status_publisher]: Advertised topic: /wheel_ticks
socks-socks-1  | [rviz2-20] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
socks-socks-1  | [ui_mgr-19] [INFO] [1676308848.866519784] [ui_mgr]: Advertised button topic: /interface_buttons
socks-socks-1  | [ui_mgr-19] [INFO] [1676308848.878127734] [ui_mgr]: Subscription to topic: /cmd_lightring
socks-socks-1  | [ui_mgr-19] [INFO] [1676308848.881785802] [ui_mgr]: Subscription to topic: /cmd_audio
socks-socks-1  | [motion_control-14] [INFO] [1676308848.956258147] [motion_control]: Enabling REFLEX_BUMP
socks-socks-1  | [motion_control-14] [INFO] [1676308848.956769872] [motion_control]: Enabling REFLEX_CLIFF
socks-socks-1  | [motion_control-14] [INFO] [1676308848.973780889] [motion_control]: Enabling REFLEX_STUCK
socks-socks-1  | [motion_control-14] [INFO] [1676308848.974515045] [motion_control]: Enabling REFLEX_WHEEL_DROP
socks-socks-1  | [kidnap_estimator_publisher-18] [INFO] [1676308849.054440390] [kidnap_estimator_publisher]: Advertised topic: /kidnap_status
socks-socks-1  | [robot_state-17] [INFO] [1676308849.055908876] [robot_state]: Advertised topic: /battery_state
socks-socks-1  | [robot_state-17] [INFO] [1676308849.083125172] [robot_state]: Subscription to topic: /dock_status
socks-socks-1  | [kidnap_estimator_publisher-18] [INFO] [1676308849.087261065] [kidnap_estimator_publisher]: Subscription to topic: /hazard_detection
socks-socks-1  | [robot_state-17] [INFO] [1676308849.090973287] [robot_state]: Advertised topic: /stop_status
socks-socks-1  | [robot_state-17] [INFO] [1676308849.112380088] [robot_state]: Subscription to topic: /odom
socks-socks-1  | [spawner-11] [INFO] [1676308849.472168893] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
socks-socks-1  | [rviz2-20] [INFO] [1676308849.761326272] [rviz2]: Stereo is NOT SUPPORTED
socks-socks-1  | [rviz2-20] [INFO] [1676308849.761887310] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
socks-socks-1  | [rviz2-20] [INFO] [1676308849.908343461] [rviz2]: Stereo is NOT SUPPORTED
socks-socks-1  | [joint_state_publisher-3] [INFO] [1676308849.928272742] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
socks-socks-1  | [spawn_entity.py-7] [INFO] [1676308850.678361123] [spawn_create3]: Spawn Entity started
socks-socks-1  | [spawn_entity.py-7] [INFO] [1676308850.683183837] [spawn_create3]: Loading entity published on topic robot_description
socks-socks-1  | [spawn_entity.py-7] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
socks-socks-1  | [spawn_entity.py-7]   warnings.warn(
socks-socks-1  | [spawn_entity.py-7] [INFO] [1676308850.705140038] [spawn_create3]: Waiting for entity xml on robot_description
socks-socks-1  | [spawn_entity.py-8] [INFO] [1676308850.741635759] [spawn_standard_dock]: Spawn Entity started
socks-socks-1  | [spawn_entity.py-8] [INFO] [1676308850.749978804] [spawn_standard_dock]: Loading entity published on topic standard_dock_description
socks-socks-1  | [spawn_entity.py-8] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
socks-socks-1  | [spawn_entity.py-8]   warnings.warn(
socks-socks-1  | [spawn_entity.py-8] [INFO] [1676308850.770295339] [spawn_standard_dock]: Waiting for entity xml on standard_dock_description
socks-socks-1  | [spawn_entity.py-8] [INFO] [1676308850.794577331] [spawn_standard_dock]: Waiting for service /spawn_entity, timeout = 30
socks-socks-1  | [spawn_entity.py-8] [INFO] [1676308850.795330267] [spawn_standard_dock]: Waiting for service /spawn_entity
socks-socks-1  | [spawner-11] [INFO] [1676308851.501885179] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
socks-socks-1  | [gzserver-1] ALSA lib confmisc.c:855:(parse_card) cannot find card '0'
socks-socks-1  | [gzserver-1] ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory
socks-socks-1  | [gzserver-1] ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings
socks-socks-1  | [gzserver-1] ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
socks-socks-1  | [gzserver-1] ALSA lib confmisc.c:1334:(snd_func_refer) error evaluating name
socks-socks-1  | [gzserver-1] ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
socks-socks-1  | [gzserver-1] ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory
socks-socks-1  | [gzserver-1] ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM default
socks-socks-1  | [gzserver-1] AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory
socks-socks-1  | [spawn_entity.py-8] [INFO] [1676308851.860595417] [spawn_standard_dock]: Calling service /spawn_entity
socks-socks-1  | [spawn_entity.py-7] [INFO] [1676308851.935095719] [spawn_create3]: Waiting for service /spawn_entity, timeout = 30
socks-socks-1  | [spawn_entity.py-7] [INFO] [1676308851.937744040] [spawn_create3]: Waiting for service /spawn_entity
socks-socks-1  | [spawn_entity.py-7] [INFO] [1676308851.955493279] [spawn_create3]: Calling service /spawn_entity
socks-socks-1  | [spawn_entity.py-8] [INFO] [1676308852.164816399] [spawn_standard_dock]: Spawn status: SpawnEntity: Successfully spawned entity [standard_dock]
socks-socks-1  | [INFO] [spawn_entity.py-8]: process has finished cleanly [pid 79]
socks-socks-1  | [gzserver-1] [INFO] [1676308853.137951330] [cliff_front_left]: Started plugin
socks-socks-1  | [gzserver-1] [INFO] [1676308853.189586161] [cliff_front_right]: Started plugin
socks-socks-1  | [gzserver-1] [INFO] [1676308853.278260469] [cliff_side_left]: Started plugin
socks-socks-1  | [gzserver-1] [INFO] [1676308853.358979096] [cliff_side_right]: Started plugin
socks-socks-1  | [gzserver-1] [INFO] [1676308853.480527305] [bumper_plugin]: Bumper plugin loaded correctly
socks-socks-1  | [spawner-11] [INFO] [1676308853.519679573] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
socks-socks-1  | [gzserver-1] [INFO] [1676308853.659370951] [ir_intensity_front_center_left]: Starting IR Emitter Plugin!
socks-socks-1  | [gzserver-1] [INFO] [1676308853.708101363] [ir_intensity_front_center_right]: Starting IR Emitter Plugin!
socks-socks-1  | [gzserver-1] [INFO] [1676308853.793782149] [ir_intensity_front_left]: Starting IR Emitter Plugin!
socks-socks-1  | [gzserver-1] [INFO] [1676308853.895135208] [ir_intensity_front_right]: Starting IR Emitter Plugin!
socks-socks-1  | [gzserver-1] [INFO] [1676308853.980130251] [ir_intensity_left]: Starting IR Emitter Plugin!
socks-socks-1  | [gzserver-1] [INFO] [1676308854.072640632] [ir_intensity_right]: Starting IR Emitter Plugin!
socks-socks-1  | [spawn_entity.py-7] [INFO] [1676308854.102321878] [spawn_create3]: Spawn status: SpawnEntity: Successfully spawned entity [create3]
socks-socks-1  | [gzserver-1] [INFO] [1676308854.167617363] [ir_intensity_side_left]: Starting IR Emitter Plugin!
socks-socks-1  | [gzserver-1] [INFO] [1676308854.348517963] [wheel_drop_left_plugin]: Started wheel drop plugin
socks-socks-1  | [INFO] [spawn_entity.py-7]: process has finished cleanly [pid 66]
socks-socks-1  | [gzserver-1] [INFO] [1676308854.414381523] [wheel_drop_right_plugin]: Started wheel drop plugin
socks-socks-1  | [gzserver-1] [INFO] [1676308854.441078102] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
socks-socks-1  | [gzserver-1] [INFO] [1676308854.512578644] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
socks-socks-1  | [gzserver-1] [INFO] [1676308854.512705575] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
socks-socks-1  | [gzserver-1] [INFO] [1676308854.512745035] [gazebo_ros2_control]: Loading parameter file /root/create3_ws/install/irobot_create_control/share/irobot_create_control/config/control.yaml
socks-socks-1  | [gzserver-1]
socks-socks-1  | [gzserver-1] [INFO] [1676308854.544133180] [gazebo_ros2_control]: connected to service!! robot_state_publisher
socks-socks-1  | [gzserver-1] [INFO] [1676308854.546682399] [gazebo_ros2_control]: Recieved urdf from param server, parsing...
socks-socks-1  | [gzserver-1] [INFO] [1676308854.561680431] [gazebo_ros2_control]: Loading joint: left_wheel_joint
socks-socks-1  | [gzserver-1] [INFO] [1676308854.561790912] [gazebo_ros2_control]:  State:
socks-socks-1  | [gzserver-1] [INFO] [1676308854.561802231] [gazebo_ros2_control]:       velocity
socks-socks-1  | [gzserver-1] [INFO] [1676308854.561810214] [gazebo_ros2_control]:       position
socks-socks-1  | [gzserver-1] [INFO] [1676308854.561819852] [gazebo_ros2_control]:  Command:
socks-socks-1  | [gzserver-1] [INFO] [1676308854.561866962] [gazebo_ros2_control]:       velocity
socks-socks-1  | [gzserver-1] [INFO] [1676308854.561952595] [resource_manager]: Initialize hardware 'left_wheel_controller'
socks-socks-1  | [gzserver-1] [INFO] [1676308854.562160635] [resource_manager]: Successful initialization of hardware 'left_wheel_controller'
socks-socks-1  | [gzserver-1] [INFO] [1676308854.562281525] [resource_manager]: 'configure' hardware 'left_wheel_controller'
socks-socks-1  | [gzserver-1] [INFO] [1676308854.562293839] [resource_manager]: Successful 'configure' of hardware 'left_wheel_controller'
socks-socks-1  | [gzserver-1] [INFO] [1676308854.562299884] [resource_manager]: 'activate' hardware 'left_wheel_controller'
socks-socks-1  | [gzserver-1] [INFO] [1676308854.562305501] [resource_manager]: Successful 'activate' of hardware 'left_wheel_controller'
socks-socks-1  | [gzserver-1] [INFO] [1676308854.562361085] [gazebo_ros2_control]: Loading joint: right_wheel_joint
socks-socks-1  | [gzserver-1] [INFO] [1676308854.562391412] [gazebo_ros2_control]:  State:
socks-socks-1  | [gzserver-1] [INFO] [1676308854.562399993] [gazebo_ros2_control]:       velocity
socks-socks-1  | [gzserver-1] [INFO] [1676308854.562407426] [gazebo_ros2_control]:       position
socks-socks-1  | [gzserver-1] [INFO] [1676308854.562425610] [gazebo_ros2_control]:  Command:
socks-socks-1  | [gzserver-1] [INFO] [1676308854.562453865] [gazebo_ros2_control]:       velocity
socks-socks-1  | [gzserver-1] [INFO] [1676308854.562654741] [resource_manager]: Initialize hardware 'right_wheel_controller'
socks-socks-1  | [gzserver-1] [INFO] [1676308854.562675709] [resource_manager]: Successful initialization of hardware 'right_wheel_controller'
socks-socks-1  | [gzserver-1] [INFO] [1676308854.562690747] [resource_manager]: 'configure' hardware 'right_wheel_controller'
socks-socks-1  | [gzserver-1] [INFO] [1676308854.562702250] [resource_manager]: Successful 'configure' of hardware 'right_wheel_controller'
socks-socks-1  | [gzserver-1] [INFO] [1676308854.562708161] [resource_manager]: 'activate' hardware 'right_wheel_controller'
socks-socks-1  | [gzserver-1] [INFO] [1676308854.562862717] [resource_manager]: Successful 'activate' of hardware 'right_wheel_controller'
socks-socks-1  | [gzserver-1] [INFO] [1676308854.563344024] [gazebo_ros2_control]: Loading controller_manager
socks-socks-1  | [gzserver-1] [INFO] [1676308854.707492313] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
socks-socks-1  | [gzserver-1] [INFO] [1676308854.786654696] [controller_manager]: Loading controller 'joint_state_broadcaster'
socks-socks-1  | [gzserver-1] [INFO] [1676308854.812257322] [mouse_plugin]: Starting optical mouse plugin
socks-socks-1  | [gzserver-1] [INFO] [1676308854.992799901] [ir_omni_plugin]: Starting ir opcode plugin
socks-socks-1  | [spawner-11] [INFO] [1676308855.030992251] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
socks-socks-1  | [gzserver-1] [INFO] [1676308855.037443578] [controller_manager]: Configuring controller 'joint_state_broadcaster'
socks-socks-1  | [gzserver-1] [INFO] [1676308855.038764439] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
socks-socks-1  | [gzserver-1] [INFO] [1676308855.260568381] [dock_status_publisher]: Starting ir opcode plugin
socks-socks-1  | [spawner-11] [INFO] [1676308855.272752312] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
socks-socks-1  | [INFO] [spawner-11]: process has finished cleanly [pid 106]
socks-socks-1  | [INFO] [spawner-21]: process started with pid [435]
socks-socks-1  | [spawner-21] [INFO] [1676308855.873509569] [spawner_diffdrive_controller]: Waiting for '/controller_manager' node to exist
socks-socks-1  | [gzserver-1] [INFO] [1676308857.091228259] [controller_manager]: Loading controller 'diffdrive_controller'
socks-socks-1  | [spawner-21] [INFO] [1676308857.437625274] [spawner_diffdrive_controller]: Loaded diffdrive_controller
socks-socks-1  | [gzserver-1] [INFO] [1676308857.441897954] [controller_manager]: Configuring controller 'diffdrive_controller'
socks-socks-1  | [spawner-21] [INFO] [1676308857.508220406] [spawner_diffdrive_controller]: Configured and activated diffdrive_controller
socks-socks-1  | [INFO] [spawner-21]: process has finished cleanly [pid 435]
socks-socks-1  | [motion_control-14] [INFO] [1676308910.140446445] [motion_control]: Received new undock goal
socks-socks-1  | [motion_control-14] [INFO] [1676308925.829852554] [motion_control]: Undock Goal Succeeded
socks-socks-1  | [motion_control-14] [INFO] [1676308935.996592967] [motion_control]: Received new drive_distance goal
socks-socks-1  | [motion_control-14] [INFO] [1676308936.006973175] [motion_control]: DriveDistance with distance 0.100000, max_speed 0.150000
tay-bird commented 1 year ago

More info here: I walked through the setup process for Galactic / Ubuntu 20.04 and didn't encounter this issue on the create3_sim/galactic branch.

alsora commented 1 year ago

We are looking into this problem and we just merged this PR which should fix some of the issues https://github.com/iRobotEducation/create3_sim/pull/206

tay-bird commented 1 year ago

Amazing thanks for the update!

alsora commented 1 year ago

We pushed additional fixes as part of this PR https://github.com/iRobotEducation/create3_sim/pull/200. Please, let us know if everything works as expected now.

tay-bird commented 1 year ago

Finally had a chance to test this out - all is working well now! Thank you much iRobotEdu team :)