URDF Stage of Install: Joint_state_publisher waiting for robot_description

[philmurp]

I am getting stuck at the "Visualize the newly created URDF" portion. I am able to edit my description file and colcon build, but then when I launch via robot computer I get stuck at attached screen.

Further steps like launching robot and conctrolling via keyboard works, but URDF and SLAM all get stuck waiting for this robot_description topic.

"joint_state_publisher: Waiting for robot_description to be published on the robot_description topic"

Any ideas on a resolution, been looking up for a while and reinstalled joint state publisher with no luck. My RVIZ on host computer comes up but is empty and I see the robot_description as an unvisualizable topic.

Thanks

[grassjelly]

Hey Phil,

You're only launching the URDF's publisher from the robot computer. You'll also need to run the visualizer from the host computer https://github.com/linorobot/linorobot2#22-visualize-the-robot-from-the-host-machine . I updated the README for clearer instructions.

[philmurp]

Hello,

I have been entering below code in both computers:

• I entered this code into robot computer: ros2 launch linorobot2_description description.launch.py
• And then this code into host computer: ros2 launch linorobot2_viz robot_model.launch.py

This pulls up the RVIZ GUI on my host computer, but it doesnt show anything besides axes with no robot in them and lists "robot_description as an unvisualizable topic". Robot computer continues to show waiting for publisher of description, not an error but just stays stuck there forever.

It seems like the joint_state_publisher from robot computer isnt sending anything out or receiving back from host computer. Is there something within the RVIZ on host computer I can edit to try and connect? Both on same wifi network if that matters.

On Tue, Oct 5, 2021 at 9:26 AM Juan Miguel Jimeno @.***> wrote:

Hey Phil,

You're only launching the URDF's publisher from the robot computer. You'll also need to run the visualizer from the host computer https://github.com/linorobot/linorobot2#22-visualize-the-robot-from-the-host-machine . I updated the README for clearer instructions.

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[grassjelly]

You can install the package without using the installer script on your development computer: https://github.com/linorobot/linorobot2#2-host-machine--development-computer---gazebo-simulation-optional

and run description.launch.py with the rviz arg set to true https://github.com/linorobot/linorobot2#21-publish-the-urdf-from-the-robot-computer

[grassjelly]

btw, have you tried changing 'Durability Policy' In RobotModel's config in rviz?

[philmurp]

Hello,

I reinstalled all on the host computer, same results. As per screenshots below I ran it both ways from robot computer with and without RVIZ = true. In host computer RVIZ, I am getting Global States, FIxed Fram = No tf data. Actual error: Frame [base_footprint] does not exist. Did I not save URDF in the right place?

Also, when I run this the Teensy keeps blinking orange and then I cant connect and after that I cant run launch and teleop so I need to reconfigure the teensy and send firmware to kind of "reset" it and then I can connect and move it with teleop. It seems like it gets stuck waiting for this joint_state_publisher waiting for robot_description to be published on the robot_description topic and nothing works after that.

Third screenshot is if I skip URDF section and go straight to SLAM mapping, same Global Status when opening RVIZ on host computer = "No tf data. Actual error: Frame [map does not exist]

Running: ros2 launch linorobot2_description description.launch.py

[image: image.png]

Running with ros2 launch linorobot2_description description.launch.py rviz:=true

[image: image.png]

Skipping URDF and running SLAM: [image: image.png]

On Tue, Oct 5, 2021 at 10:01 AM Juan Miguel Jimeno @.***> wrote:

btw, have you tried changing 'Durability Policy' In RobotModel's config in rviz? [image: Screenshot from 2021-10-05 21-57-04] https://user-images.githubusercontent.com/5070395/136038261-0f59d9ac-3bd4-4fdd-ae2d-5ac17cce8950.png

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[grassjelly]

@philmurp could you send a copy of the xacro file you edited? What's the output when you run? echo $LINOROBOT2_BASE

Please post another issue regarding [map does not exist]

[philmurp]

Sure I can open another issue on that map doesnt exist.

Below is what I did, based on the README: 1) navigated to xacro file: linorobot_ws/src/linorobot2/linorobot2_description/urdf ; then command nano mecanum_properties.urdf.xacro 2) cd linorobot2_ws 3) colcon build

Then did same exact steps on host computer.

Below is the file, I edited some of the values so that they matched dimensions of my hardware: [image: image.png]

--

Also, under the linorobot2_description/urdf/robots, I noticed the "robotname = linorobot2_2wd" even in the file named mecanum. I tried it as is and also changed the name to "robot name = linorobot2_mecanum" but it made no difference.

On Wed, Oct 6, 2021 at 6:35 AM Juan Miguel Jimeno @.***> wrote:

@philmurp https://github.com/philmurp could you send a copy of the xacro file you edited? Please post another issue regarding [map does not exist]

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[grassjelly]

I can't see the images you uploaded. Could you update your comment please? Thanks. Have you also tried visualizing the URDF using the default file?

[philmurp]

Ok my updated file code below. I just changed was the numbers slightly so nothing at all about the structure of the file:

<?xml version="1.0"?>

One other thing I noticed in the launch file, under joint_state_publisher there is no 'robot_description' it is only under the robot_state_publisher Node. Could this be why the robot_state_publisher tasks run but then joint_state_publisher gets stuck and is waiting for robot_description? Should I try copying robot_descritpion line into the joint_state_publisher Node?

Node( package='joint_state_publisher', executable='joint_state_publisher', name='joint_state_publisher', condition=IfCondition(LaunchConfiguration("publish_joints")), parameters=[ {'use_sim_time': LaunchConfiguration('use_sim_time')} ] ), Node( package='robot_state_publisher', executable='robot_state_publisher', name='robot_state_publisher', output='screen', parameters=[ { 'use_sim_time': LaunchConfiguration('use_sim_time'), 'robot_description': Command(['xacro ', LaunchConfiguration('urdf')]) } ] ),

On Wed, Oct 6, 2021 at 7:47 AM Juan Miguel Jimeno @.***> wrote:

I can't see the images you uploaded. Could you update your comment please? Thanks. Have you also tried visualizing the URDF using the default file?

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[grassjelly]

I can't replicate your error. Loads fine on me tho

Are you getting anythin on joint_states topic? ros2 topic echo joint_states

[grassjelly]

Also could you try a simple pub-sub test just to smoke test that your ros2 network is fine:

On a new terminal: ros2 topic pub -r 30 cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"

On a another terminal: ros2 topic echo cmd_vel

[philmurp]

In your picture are both windows on robot computer or first one on robot and second one on the host?

If I try and replicate your code in my host computer for the second window in your picture: 1) cd dev_ws/src/linorobot2_viz 2) ros2 launch linorobot2_viz robot model.launch.py

Results is error "file 'robot' was not found in the share directory of package 'linorobot2_viz' which is at '/home/phil/dev_ws/install/linorobot2_viz/share/linorobot2_viz'

Is this maybe a directly/install issue that my host computer cant find these files? For example after I installed from section 2.1 in the README, I didnt have a linorobot2_ws so I manually created a dev_ws using ROS online tutorial. Perhaps the host computer install didnt work properly? I tried it a few time and the viz only install and they all ended up the same way. My host computer I am using VMWARE virtual desktop.

--

for ros2 topic echo joint_states on my robot computer I am getting results:Says name: front left, front right, rear left, rear right [image: image.png]

On both my host and robot computers that results in printing the vectors and the echo is sending them back. So no errors from that.

On Wed, Oct 6, 2021 at 8:23 AM Juan Miguel Jimeno @.***> wrote:

Also could you try a simple pub-sub test just to smoke test that your ros2 network is fine:

On a new terminal: ros2 topic pub -r 30 cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"

On a another terminal: ros2 topic echo cmd_vel

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[grassjelly]

You have a typo on launching robot_model.launch.py . There should be an underscore between robot and model, hence it looked for the 'robot' file. Did you try the simple pub-sub test?

[philmurp]

Sorry, rushing. Fixed typo but same results.

For the pub-sub test, no errors.

or ros2 topic echo joint_states on my robot computer I am getting what looks like good results:Says name: front left, front right, rear left, rear right [image: image.png]

On both my host and robot computers that results in printing the vectors and the echo is sending them back. So no errors from that.

On Wed, Oct 6, 2021 at 9:37 AM Juan Miguel Jimeno @.***> wrote:

You have a typo on launching robot_model.luanch.py . There should be an underscore between robot and model, hence it looked for the 'robot' file. Did you try the simple pub-sub test?

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[grassjelly]

Everything seems to be working fine. Except the rviz visualization of the mesh. Could you post a photo of how rivz looks like when you launch the viz file?

[philmurp]

Let me know if this picture comes through.

[image: image.png]

On Wed, Oct 6, 2021 at 10:00 AM Juan Miguel Jimeno @.***> wrote:

Everything seems to be working fine. Except the rviz visualization of the mesh. Could you post a photo of how rivz looks like when you launch the viz file?

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[grassjelly]

No photo uploaded it’s just text

[image: image.png]

[philmurp]

Trying attachment route.

On Wed, Oct 6, 2021 at 10:25 AM Juan Miguel Jimeno @.***> wrote:

No photo uploaded it’s just text

[image: image.png]

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[philmurp]

Also to elaborate on point I made from a while back; once I try to do this RVIZ, even when I close out and restart the computer the Teensy does this triple blinking activity and I cant successfully connect to control the robot even via "ros2 run teleop_twist_keyboard teleop_twist_keyboard".

The code runs fine on command prompt and I get prompts on how to use the keyboard to control it, but the teensy doesnt respond. So I then have to go back to Hardware README and run configuration and sampling code. Then come back and run "ros2 run teleop_twist_keyboard teleop_twist_keyboard" and it works.

So this RVIZ is doing something that is blocking out the Teensy from listening to any other commands, no idea why but I cant get it to listen to anything after RVIZ is attempted.

-Phil

On Wed, Oct 6, 2021 at 10:27 AM Phillip Murphy @.***> wrote:

Trying attachment route.

On Wed, Oct 6, 2021 at 10:25 AM Juan Miguel Jimeno < @.***> wrote:

No photo uploaded it’s just text

[image: image.png]

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[grassjelly]

Hey @philmurp , I still cant see the photo, are you able to just drag a photo using the browser?

Please refrain from posting multiple issues in a single thread. If you’re encountering issues on the microcontroller, please post a new issue (also this is more related to lino_hardware repository)

[philmurp]

Damn not sure why this photo wont show up. I just dragged the photo into the body of email and attached for both .png and .jpeg. I also posted the pictures direct into the my question in the google forums page.

I dont think its a microcontroller issue, just thought that additional info might help diagnose. If I run the teleop directly, microcontroller works fine in controlling the base, so everything in the hardware README worked as expected.

[image: 56.PNG] [image: 56_2.jpg]

On Wed, Oct 6, 2021 at 11:30 AM Juan Miguel Jimeno @.***> wrote:

Hey @philmurp https://github.com/philmurp , I still cant see the photo, are you able to just drag a photo using the browser?

Please refrain from posting multiple issues in a single thread. If you’re encountering issues on the microcontroller, please post a new issue (also this is more related to lino_hardware repository)

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/linorobot/linorobot2/issues/2#issuecomment-936504921, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABMPS6NFCTAWI3GLKLI2NCDUFRTS3ANCNFSM5FLYYTOA . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.

[philmurp]

Also, I am running this on Jetson Nano, so using the XUbuntu 20.04 image. Not sure if that has any impacts on the strange behavior.

-Phil

On Wed, Oct 6, 2021 at 12:09 PM Phillip Murphy @.***> wrote:

Damn not sure why this photo wont show up. I just dragged the photo into the body of email and attached for both .png and .jpeg. I also posted the pictures direct into the my question in the google forums page.

I dont think its a microcontroller issue, just thought that additional info might help diagnose. If I run the teleop directly, microcontroller works fine in controlling the base, so everything in the hardware README worked as expected.

[image: 56.PNG] [image: 56_2.jpg]

On Wed, Oct 6, 2021 at 11:30 AM Juan Miguel Jimeno < @.***> wrote:

Hey @philmurp https://github.com/philmurp , I still cant see the photo, are you able to just drag a photo using the browser?

Please refrain from posting multiple issues in a single thread. If you’re encountering issues on the microcontroller, please post a new issue (also this is more related to lino_hardware repository)

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[grassjelly]

I think it's the rviz that's causing the problem. The robot computer's publishing the joint_states and you can do pub-sub on the host computer too.

Can I confirm that this is the current setup on your host machine (running on VMWARE): First terminal:

ros2 launch linorobot2_description description.launch.py

Second terminal: ros2 launch linorobot2_viz robot_model.launch.py

When you run robot_model.launch.py, are you getting any errors from rviz?

[philmurp]

I agree I think something on my host isnt installed properly.

I sometime get the below: 1) cd dev_ws/src 2) ros2 launch linorobot2_viz robot_model.launch.py

Results: malformed launch argument 'robot_model.launch.py', expected format ':='

Then I usually rebuild and it works to pull up the RVIZ.

Perhaps I should reimage and reinstall everything from scratch? I have always done the full install to enable gazebo, I can try just the RVIZ this time.

-Phil

On Wed, Oct 6, 2021 at 12:33 PM Juan Miguel Jimeno @.***> wrote:

I think it's the rviz that's causing the problem. The robot computer's publishing the joint_states and you can do pub-sub on the host computer too.

Can I confirm that this is the current setup on your host machine (running on VMWARE): First terminal:

ros2 launch linorobot2_description description.launch.py

Second terminal: ros2 launch linorobot2_viz robot_model.launch.py

When you run robot_model.launch.py, are you getting any errors from rviz?

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[grassjelly]

Best if you can have a native install of Ubuntu on your host machine. Sorry I can't do much, I can't replicate this problem. Maybe you can try posting on ROS Answers too?

[philmurp]

Thanks for all the help thus far.

Should I try something like this: https://ubuntu.com/tutorials/ubuntu-on-windows#1-overview

It says its a microsoft app but not sure its a full installation we would need.

-Phil

On Wed, Oct 6, 2021 at 12:53 PM Juan Miguel Jimeno @.***> wrote:

Best if you can have a native install of Ubuntu on your host machine. Sorry I can't do much, I can't replicate this problem. Maybe you can try posting on ROS Answers too?

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[grassjelly]

That might be worth the try. Would love to hear the results. Closing this for now. Feel free to re-open this again

[philmurp]

One quick question as I am re-installing, for host computer colcon build there should be 6 packages built is that correct?

On Wed, Oct 6, 2021 at 2:03 PM Juan Miguel Jimeno @.***> wrote:

Closed #2 https://github.com/linorobot/linorobot2/issues/2.

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[philmurp]

One thing that you got in your host code before RViz is the: "Parsing robot urdf xml string"

that never shows up for me.

Any idea what that means?

-Phil

On Wed, Oct 6, 2021 at 4:20 PM Phillip Murphy @.***> wrote:

One quick question as I am re-installing, for host computer colcon build there should be 6 packages built is that correct?

On Wed, Oct 6, 2021 at 2:03 PM Juan Miguel Jimeno < @.***> wrote:

Closed #2 https://github.com/linorobot/linorobot2/issues/2.

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