jackal_gazebo doesnt launch in ros2 foxy

[fatemehprhm]

• OS: 20.04
• ROS Distro: foxy
• Built from source or installed: Binary installed

Hi, By setting the JACKAL_LASER_3D to 1 in accesories.urdf.xacro file, Im trying to run ros2 launch jackal_gazebo jackal_world.launch.py with velodyne 3D lidar in the terminal but i get this complicated error, someone else had the same issue here but the answaer which was the lack of velodyne_description package doesnt apply to me because i have that package installed:

[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=SubstitutionFailure('executed command failed. Command: /opt/ros/foxy/bin/xacro /opt/ros/foxy/share/jackal_description/urdf/jackal.urdf.xacro is_sim:=true gazebo_controllers:=/opt/ros/foxy/share/jackal_control/config/control.yaml')>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  [Previous line repeated 5 more times]
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 444, in execute
    self._perform_substitutions(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 399, in _perform_substitutions
    evaluated_parameters = evaluate_parameters(context, self.__parameters)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 164, in evaluate_parameters
    output_params.append(evaluate_parameter_dict(context, param))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 132, in evaluate_parameter_dict
    evaluated_value = value.evaluate(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/parameter_descriptions.py", line 83, in evaluate
    self.__evaluated_parameter_value = perform_typed_substitution(
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/type_utils.py", line 548, in perform_typed_substitution
    perform_substitutions(context, cast(List[Substitution], value)),
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in perform_substitutions
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py", line 26, in <listcomp>
    return ''.join([context.perform_substitution(sub) for sub in subs])
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py", line 232, in perform_substitution
    return substitution.perform(self)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/substitutions/command.py", line 116, in perform
    raise SubstitutionFailure(f'executed command failed. Command: {command_str}')
launch.substitutions.substitution_failure.SubstitutionFailure: executed command failed. Command: /opt/ros/foxy/bin/xacro /opt/ros/foxy/share/jackal_description/urdf/jackal.urdf.xacro is_sim:=true gazebo_controllers:=/opt/ros/foxy/share/jackal_control/config/control.yaml
Task exception was never retrieved
future: <Task finished name='Task-12' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=RuntimeError('Signal event received before subprocess transport available.')>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/opaque_function.py", line 75, in execute
    return self.__function(context, *self.__args, **self.__kwargs)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 443, in __on_signal_process_event
    raise RuntimeError('Signal event received before subprocess transport available.')
RuntimeError: Signal event received before subprocess transport available.
[INFO] [gzserver-1]: process started with pid [12820]
[INFO] [gzclient-2]: process started with pid [12822]
[INFO] [gzserver-1]: sending signal 'SIGINT' to process[gzserver-1]
[ERROR] [gzserver-1]: process has died [pid 12820, exit code -2, cmd 'gzserver -s libgazebo_ros_init.so -s libgazebo_ros_factory.so --verbose /opt/ros/foxy/share/jackal_gazebo/worlds/jackal_race.world'].
[ERROR] [gzclient-2]: process[gzclient-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [gzclient-2]: sending signal 'SIGTERM' to process[gzclient-2]
[ERROR] [gzclient-2]: process has died [pid 12822, exit code -15, cmd 'gzclient'```

[tonybaltovski]

Hi, Foxy is EOL and I would suggest moving to Humble. Our docs for that are here: https://docs.clearpathrobotics.com/docs/ros/

[fatemehprhm]

Hi, Foxy is EOL and I would suggest moving to Humble. Our docs for that are here: https://docs.clearpathrobotics.com/docs/ros/

Ther is no humble distro for jackal_gazebo:(

[tonybaltovski]

That is expected, it is now here: https://github.com/clearpathrobotics/clearpath_simulator for Humble. Check the tutorials.

[fatemehprhm]

That is expected, it is now here: https://github.com/clearpathrobotics/clearpath_simulator for Humble. Check the tutorials.

Thanks, but can you tell me what can be wrong with the code here? Right now i cant change my os or use docker.