search

jsk-ros-pkg / jsk_robot

jsk-ros-pkg/jsk_robot
https://github.com/jsk-ros-pkg/jsk_robot
73 stars 97 forks source link

[gazebo] Resupport gazebo environment #1911

Closed mqcmd196 closed 2 months ago

mqcmd196 commented 2 months ago

@OldVincent Now, I'm creating a gazebo environment for Fetch at this PR. Please try if you have time.

PR2 needs more patches...

mqcmd196 commented 2 months ago 
roslaunch jsk_fetch_startup fetch_gazebo_73b2.launch
OldVincent commented 2 months ago

Upstream library fetch_gazebo needs slight modification to run on Noetic. In file fetch_gazebo/fetch_gazebo/launch/include/fetch.launch.xml, line 12 $(find xacro)/xacro.py need to be replaced by $(find xacro)/xacro, then at least 'simulation.launch' can function normally; still 'playground.launch' gets stuck in loading because of waiting for responses from services: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

After install package jsk_maps from source, the room map and fetch robot can be loaded into gazebo correctly, yet the console is flooded with red errors. Most of these errors are from nodes 'tweet' and 'respeaker_node' in their failure-restarting loop.

Screenshot of partial error message from respeaker node: Error of respeaker_node

Screenshot of partial error message from tweet node: Error of tweet

OldVincent commented 2 months ago 
roslaunch jsk_fetch_startup fetch_gazebo_73b2.launch

Screenshot of running that launch file after minor fixes mentioned before: Gazebo View

mqcmd196 commented 2 months ago

I'm really really sorry, but I made wrong branch... Please check #1912