Missing dependencies

[Giggus]

Controller_spawner is failing because some dependencies are not satisfied when running

"rosdep install --rosdistro melodic --ignore-src --from-paths src"

Fixed by installing ros-melodic-moveit and ros-melodic-joint-trajectory-controller

It might be worth investigating which are the missing packages in the package dependencies rather then installing these two packages which include many others that might not be useful.

[anubhav-dogra]

Can you please help me with the following errors. The simulation is working fine with the melodic, but I am not able to understand the issue with Foxy. Please help to understand what I am missing here Thanks.

[spawner.py-6] [INFO] [1651662207.865197859] [spawner_position_trajectory_controller]: Waiting for /controller_manager services [rviz2-8] Warning: Invalid frame ID "lbr_link_1" passed to canTransform argument source_frame - frame does not exist [rviz2-8] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.11/src/buffer_core.cpp [rviz2-8] Warning: Invalid frame ID "lbr_link_2" passed to canTransform argument source_frame - frame does not exist [rviz2-8] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.11/src/buffer_core.cpp [rviz2-8] Warning: Invalid frame ID "lbr_link_3" passed to canTransform argument source_frame - frame does not exist [rviz2-8] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.11/src/buffer_core.cpp [rviz2-8] Warning: Invalid frame ID "lbr_link_4" passed to canTransform argument source_frame - frame does not exist [rviz2-8] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.11/src/buffer_core.cpp [rviz2-8] Warning: Invalid frame ID "lbr_link_5" passed to canTransform argument source_frame - frame does not exist [rviz2-8] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.11/src/buffer_core.cpp [rviz2-8] Warning: Invalid frame ID "lbr_link_6" passed to canTransform argument source_frame - frame does not exist [rviz2-8] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.11/src/buffer_core.cpp

[mhubii]

Hi and sorry for seeing this so late. This usually happens when the communication to the robot is not setup for some reason

[mhubii]

what realtime priority do you have on your system? The launch file launches the controller with a realtime priority of 99

https://github.com/KCL-BMEIS/lbr_fri_ros2_stack/blob/0d2cc6e2f6bcfbff860fa87ecb87a64520f55181/lbr_bringup/launch/lbr_control.launch.py#L69

If the realtime priority is not set, the communicating thread will not be launched

https://github.com/KCL-BMEIS/lbr_fri_ros2_stack/issues/14

[anubhav-dogra]

Hi, there thank you for the information. I did change the real time priority as mentioned. But I'm still facing the same error. as of now, my arg for simulation is true as, sim:= true

I am using ubuntu on a Virtual machine.. and that should not be a problem I guess (?)

[mhubii]

if you wish to connect to the real robot, you'll have to set sim:=false. Also you'll have to launch the LBRServer application on the SmartPad

[anubhav-dogra]

Yes I'm able to work with the real robot with the current "lbr_fri_ros_stack" in melodic...

I'm trying to workout the same for ros2 stack but I'm stuck with the error mentioned above in my earlier comment. I edited the rtprio in the system, but the error still persists.

"[spawner.py-6] [INFO] [1651662207.865197859] [spawner_position_trajectory_controller]: Waiting for /controller_manager services......."

[mhubii]

have you tried to install dependencies? rosdep install --from-paths src --ignore-src -r -y Sometimes I have encountered that xacro didn't get installed, so I had to do it manually sudo apt install ros-foxy-xacro.

I currently don't have access to a real robot, so it is hard to tell what the issue is and I can't test it

• Could I kindly ask you to paste the entire terminal output here? Or launch with ros2 launch lbr_bringup lbr_bringup.launch.py model:=med7 sim:=false | grep ERROR maybe one can see what throws then
• What exactly have you added to /etc/security/limits.conf? user in user - rtprio 99 has to be replaced by your username

The errors that you receive about the missing transforms are most likely only the result of missing joint states, ie a connection to the robot is not established. That is because the robot_state_publisher https://github.com/KCL-BMEIS/lbr_fri_ros2_stack/blob/9e78f9d2b04fa545a412ff5d31fdc1dc05a3b600/lbr_bringup/launch/lbr_control.launch.py#L72 never receives joint states, which are published through a controller named joint_state_broadcaster https://github.com/KCL-BMEIS/lbr_fri_ros2_stack/blob/9e78f9d2b04fa545a412ff5d31fdc1dc05a3b600/lbr_bringup/launch/lbr_control.launch.py#L82

[anubhav-dogra]

• Right now Im trying with the sim:=true, but the same occurs even with sim:=false.
• Yes I have replaced user with my username !
• please find below the entire terminal output with the command as mentioned by you with | grep ERROR and sim:=true.

anubhav@ubuntu:~/lbr_fri_ros2_stack_ws$ ros2 launch lbr_bringup lbr_bringup.launch.py model:=med14 sim:=true | grep ERROR [move_group-7] [ERROR] [1654036072.629839378] [moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates [ERROR] [gzserver-1]: process has died [pid 2632, exit code 255, cmd 'gzserver -s libgazebo_ros_init.so -s libgazebo_ros_factory.so -s libgazebo_ros_force_system.so ']. [spawner.py-6] [ERROR] [1654036082.251245291] [spawner_position_trajectory_controller]: Controller manager not available [spawner.py-5] [ERROR] [1654036082.253981082] [spawner_joint_state_broadcaster]: Controller manager not available [ERROR] [spawner.py-6]: process has died [pid 2644, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py position_trajectory_controller --controller-manager /controller_manager --ros-args']. [ERROR] [spawner.py-5]: process has died [pid 2642, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py joint_state_broadcaster --controller-manager /controller_manager --ros-args']. [move_group-7] [ERROR] [1654036087.953478906] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Action client not connected: position_trajectory_controller/follow_joint_trajectory

And this is how Rviz windows opens: even if the world frame or lbr_link_0 is selected ...

gazebo window:

[mhubii]

oh okay sorry I misunderstood you. I thought it was working well in simulation for foxy, but it doesn't. Please apologize. What is the error about the Gazebo server? Does just launching Gazebo work? In a terminal write gazebo

[mhubii]

I'll try this later today, as I currently don't have access to a PC. Hopefully I can replicate the issue and find a fix. Thank you for sharing

[anubhav-dogra]

Hey, did you have a chance to look into this problem? :) I was just wondering if this problem is only due to using Ubuntu as in Virtual Machine on Windows. ? I am not very sure because ROS-1 is working fine with the same.

[mhubii]

no sorry, it is on my mind though. What about compiling this on Windows? ROS2 should support that. Only the visibility headers headers would have to be implemented

[mhubii]

hey @anubhav-dogra , did you get to look into this again? I recently tried the system with the newest foxy release and everything worked well. I am also having time to work on this again, so please let me know. Your feedback is much appreciated

[Nicolai-98]

I seem to be having a similar problem using humble and Ubuntu 22.04. I installed all the dependencies and tried to run the launch file following the ReadMe: Gazebo does not open properly(its stuck on "Peparing your world...") and rviz showed an error in the robot model like shown in the pictures from anubhav-dogras earlier comment. I made sure packages like the joint-jrajectory-controller and controller manager are installed.

[mhubii]

hi @Nicolai-98 . Yes this is a very well known issue. The very first launch is somehow extremely slow and doesn't spawn the model.

Here is how to fix:

• Run launch and wait until Gazebo opens (model won't spawn yet, can take a long time)
• Exit the launch (ctrl+c in terminal)
• Make sure gzserver is closed (you can verify: pgrep gzserver - should be empty. If a process id is shown use kill pid, where pid is output of pgrep gzserver)
• Re-launch and everything should work fine

I think this is some Gazebo related bug. Note after the first launch this will never re-occur. Please let me know if this works. Btw, love your folder name :P

[Nicolai-98]

Thank you for the quick answer! The folder name might be related to some issues I am experiencing with getting my robot to run properly on humble :D. I tried your fix:

• I ran the launch and waited ~15 minutes
• To clarify I am seeing the loading screen with "Preparing your world" but in the background gazebo opened showing the GUI and a completely black viewport. When I click the loading screen it just disappears.
• Rviz is just showing an empty grid. I can however add the RobotModel manually using the /lbr/robot_description as the description topic. I get a bunch of "No transform from link_0 to link_1" errors.
• I exited launch and checked for the gzserver. Output was empty so it should have been closed.
• I re-ran the launch and it unfortunately repeats the same behavior.

Update: I manged to launch it the way you described it using a docker container. I guess there is some problem with my ros2-humble setup on my machine. Thanks for your help!

[mhubii]

hi @Nicolai-98 , great to hear that worked! The error no transform suggests no model was loaded into Gazebo, hence the robot_state_publisher can't read joint states from joint_state_broadcaster and can't compute transforms.

Would you be happy to share the docker file, maybe create a pull request, I can create a dev-humble-docker branch. That would create a lot of value for many people. If not, no problem!

[mhubii]

Closing this issue for now, as dependencies seem to work well. Opening #149