Regarding the usage of Robotic Arm in Docker Setup

[samunaai]

As specified on the [README.md] of the main page, we should ideally be able to run the same code from either a source installation, or from a docker setup, and obtain the same result. We observed a simple problem when trying to spawn a Robotic arm-equipped USV:

ros2 launch mbzirc_ign spawn.launch.py name:=usv world:=coast model:=usv x:=-1462 y:=-16.5 z:=0.3 R:=0 P:=0 Y:=0 arm:=mbzirc_oberon7_arm gripper:=mbzirc_oberon7_gripper

• When we run this code on a source installation of the sim environment, it spawns a USV with robotic arm at the start gate coordinates
• When we run this code using the docker (using the latest docker image version), no USV is spawned
• Strangely, when we run in docker, but removing the flags for the robotic arm (i.e as per the bottom of this issue), it successfully spawns the USV, but of course, without a robotic arm, which we need

We checked the docker side of things, using 2 completely different machines, and observed the same behaviour Could you kindly check from your end to see if this issue of spawning a robotic arm with above mentioned command is reproduced? Warm regards,

ros2 launch mbzirc_ign spawn.launch.py name:=usv world:=coast model:=usv x:=-1462 y:=-16.5 z:=0.3 R:=0 P:=0 Y:=0

[iche033]

hi, I tested the latest docker image from dockerhub but I'm not able to reproduce the issue. Maybe try removing the docker images you have locally and pull from dockerhub again? In my testing, I removed any old docker images from the osrf/mbzirc repo (docker rmi -f <image>) before pulling the latest version from dockerhub. I ran the command you have for spawning the USV and the arm and I was able to see the USV and the arm.