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open-rmf / rmf_demos

Demonstrations of the OpenRMF software
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[Bug]: Caddy cannot move around in the airport simulation #214

Open Jerrybaoyilei opened 8 months ago

Jerrybaoyilei commented 8 months ago

Before proceeding, is there an existing issue or discussion for this?

OS and version

Ubuntu 22.04

Open-RMF installation type

Binaries

Other Open-RMF installation methods

No response

Open-RMF version or commit hash

2.0.4

ROS distribution

Humble

ROS installation type

Binaries

Other ROS installation methods

No response

Package or library, if applicable

No response

Description of the bug

When running the airport simulation, the caddy cannot be moved around by pressing the corresponding keys (u, i, o, j, k, l, m, ,, .). However, pressing the keys to change velocity (q, z, w, x) actually lead to changes in velocity.

Steps to reproduce the bug

  1. In a new terminal, source the setup.bash file and launch RMF using ros2 launch rmf_demos_gz_classic airport_terminal.launch.xml
  2. In another new terminal, source the setup.bash file and run ros2 run teleop_twist_keyboard teleop_twist_keyboard to enable keyboard controls to move the caddy around
  3. Keep this terminal in step 2 in focus, and press the corresponding keys to try to move the caddy around, and the caddy won't be moving around. However, its velocity can be changed.

Expected behavior

The caddy is expected to move around when corresponding keys (u, i, o, j, k, l, m, ,, .) are pressed.

Actual behavior

The caddy stays stationary even when these keys are pressed.

Additional information or screenshots

I checked the output on the terminal in step 1, and found the following:

[INFO] [simple_api_server - 14]: process started with pid [12438] ... [ERROR] [simple_api-server - 14]: process has died [pid 12438, exit code 1, cmd '/home/jbao/one_robot_ws/install/rmf_demos_panel/lib/rmf_demos_panel/simple_api_server --ros-args --params-file /tmp/launch_params_4_9bokri']

Yadunund commented 8 months ago

Does it work with the _gz_classic launch?

Might be due to the forward slash in the filename attribute. Could you remove the forward slash, rebuild, and try again? If that works then we need to find a better way to list both plugins. But we're planning to drop the *_gz_classic pkgs for jazzy release so it won't be a problem moving forward. Although if you find a fix, it might be a worthwhile backport to iron and humble.

Jerrybaoyilei commented 8 months ago

Hi, I was actually using the gz_classic launch when the problem occured. I never used the non-classic launch. I launched the demo using command ros2 launch rmf_demos_gz_classic (I am not entirely sure if this is what you are referring to, as I am fairly new to ROS 2 and open-rmf (I'm sorry!))