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pal-robotics / tiago_simulation

http://wiki.ros.org/Robots/TIAGo
Apache License 2.0
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[ROS2] controller_manager not available #19

Closed AndyZe closed 2 years ago

AndyZe commented 2 years ago

I'm trying to do some mobile manipulation simulations in ROS2 and was hoping to use Tiago. But, it looks like ROS2 launching isn't functional yet. Is that correct?

The main issue I see is that the controller_manager is not launched.

ros2 launch tiago_gazebo tiago_gazebo.launch.py -->

[spawner-8] [INFO] [1662988351.731856152] [spawner_head_controller]: Waiting for '/controller_manager' node to exist
[spawner-7] [INFO] [1662988351.753627861] [spawner_torso_controller]: Waiting for '/controller_manager' node to exist
[spawner-6] [INFO] [1662988351.753633951] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist
[spawner-10] [ERROR] [1662988353.659231753] [spawner_hand_controller]: Controller manager not available
[spawner-5] [ERROR] [1662988353.729551282] [spawner_mobile_base_controller]: Controller manager not available
[spawner-9] [ERROR] [1662988353.739216180] [spawner_arm_controller]: Controller manager not available
[spawner-8] [ERROR] [1662988353.739462857] [spawner_head_controller]: Controller manager not available

Can anybody describe what state this repository is in for ROS2? Working / expected to be working soon / not anytime soon

saikishor commented 2 years ago

Hello @AndyZe,

We are currently working towards integration of the ROS2 on our TIAGo robot. it is expected to be working sometime in near future. I hope this information helps.

Thank you,

Best Regards, PAL Robotics Team.

AndyZe commented 2 years ago

Thanks! If you can, please ping me here when it is functional. There's the potential to be featured in some cool features/simulations, maybe even at ROSCon 2023.

saikishor commented 2 years ago

Hello @AndyZe,

Sure. We will let you know once we have it functional.

Thank you,

Best Regards, PAL Robotics Team.

Noel215 commented 2 years ago

Hi @AndyZe, TIAGo simulation and navigation are already working for the latest distro of ROS2, humble.

AndyZe commented 2 years ago

Thanks @Noel215. Can you give me any details on how to install/ launch it? I've tried ros2 launch tiago_gazebo tiago_gazebo.launch.py but get a bunch of "Controller manager not available" errors.

Noel215 commented 2 years ago

Of course I can @AndyZe. I'll explain you shortly, but I'm preparing a readme file with more detailed instructions.

First of all I recommend you changing to Cyclone DDS. With the Fast-DDS we are having some issues, similar that the one you reported. You can do it by setting a environment variable with the command export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp.

Then you can use the tiago_public.rosinstall to get all the packages needed for TIAGo simulation. Now we've also included moveit2 with the simulation!

Finally you can launch the simulation with the command you've been using ros2 launch tiago_gazebo tiago_gazebo.launch.py

AndyZe commented 2 years ago

I got it working. I am on Rolling and the key seems to have been sudo apt update / upgrade. Thanks!

(I'll probably switch to Humble soon)