tiago_gazebo.launch.py /scan_raw missing on simulation

[phil123456]

Following Rico's book - page 43 - (https://github.com/fmrico/book_ros2)

[Ubuntu 20.04.6 LTS / Foxy]

I try to run Tiago sim and drive it around a world map with the teleop launcher

I run the simulation like this

cd bookros2_ws/src/
source install/setup.sh
ros2 launch br2_tiago sim.launch.py 

I run the teleop like this

cd bookros2_ws/src/
source install/setup.sh
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=key_vel

expected:

• the /scan_raw topic should be available, it is not there
• topic /head_front_camera/rgb/image_raw is also missing

checked so far:

the scan appears in the simulation window, so it is active but not producing any scan topic

this is the laucher

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import (DeclareLaunchArgument, GroupAction,
                            IncludeLaunchDescription, SetEnvironmentVariable)
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PythonExpression

def generate_launch_description():
    tiago_gazebo_dir = get_package_share_directory('tiago_gazebo')

    world = LaunchConfiguration('world', default='home')
    declare_world_cmd = DeclareLaunchArgument(
        'world',
        default_value='home',
        description='World name')

    tiago_sim_cmd = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(os.path.join(tiago_gazebo_dir, 'launch', 'tiago_gazebo.launch.py')),
        launch_arguments={
          'world_name': world
        }.items())

    declare_use_sim_time_cmd = DeclareLaunchArgument(
        'use_sim_time',
        default_value='True',
        description='Use simulation (Gazebo) clock if true')

    ld = LaunchDescription()

    ld.add_action(tiago_sim_cmd)

    ld.add_action(declare_use_sim_time_cmd)
    ld.add_action(declare_world_cmd)

    return ld

apprently it launches

./bookros2_ws/src/ThirdParty/tiago_simulation/tiago_gazebo/launch/tiago_gazebo.launch.py

then I searched for that /scan_raw topic

phil@ROS2:~/bookros2_ws/src$ grep -r scan_raw . 
./ThirdParty/pmb2_robot/pmb2_description/urdf/base/base_sensors.urdf.xacro:      <xacro:hokuyo_urg_04lx_ug01_laser name="${name}_laser" parent="${name}" ros_topic="scan_raw" update_rate="10" min_angle="${-110 * deg_to_rad}" max_angle="${110 * deg_to_rad}" >
./ThirdParty/pmb2_robot/pmb2_description/urdf/base/base_sensors.urdf.xacro:      <xacro:sick_tim551_laser name="${name}_laser" parent="${name}" ros_topic="scan_raw" update_rate="10" min_angle="${-110 * deg_to_rad}" max_angle="${110 * deg_to_rad}" >
./ThirdParty/pmb2_robot/pmb2_description/urdf/base/base_sensors.urdf.xacro:      <xacro:sick_tim561_laser name="${name}_laser" parent="${name}" ros_topic="scan_raw" update_rate="10" min_angle="${-110 * deg_to_rad}" max_angle="${110 * deg_to_rad}" >
./ThirdParty/pmb2_robot/pmb2_description/urdf/base/base_sensors.urdf.xacro:      <xacro:sick_tim571_laser name="${name}_laser" parent="${name}" ros_topic="scan_raw" update_rate="10" min_angle="${-110 * deg_to_rad}" max_angle="${110 * deg_to_rad}" >
./ThirdParty/pmb2_robot/pmb2_description/CHANGELOG.rst:* scan_raw is the default laser topic
./ThirdParty/tiago_simulation/tiago_2dnav_gazebo/CHANGELOG.rst:  now uses laser filter to provide scan and scan_raw
./ThirdParty/tiago_simulation/tiago_2dnav_gazebo/CHANGELOG.rst:* now uses laser filter to provide scan and scan_raw
./ThirdParty/pmb2_navigation/pmb2_2dnav/CHANGELOG.rst:* use scan_raw for mapping
./ThirdParty/pmb2_navigation/pmb2_2dnav/params/pmb2_params.yaml:    scan_topic: /scan_raw
./ThirdParty/pmb2_navigation/pmb2_2dnav/params/pmb2_params.yaml:          topic: /scan_raw
./ThirdParty/pmb2_navigation/pmb2_2dnav/params/pmb2_params.yaml:          topic: /scan_raw
./ThirdParty/pmb2_navigation/pmb2_2dnav/params/pmb2_params.yaml:    scan_topic: /scan_raw
./ThirdParty/pmb2_navigation/pmb2_laser_sensors/launch/base_laser.launch:    <remap from="scan"          to="scan_raw"/>
./ThirdParty/pmb2_navigation/pmb2_laser_sensors/launch/hokuyo_laser.launch:    <remap from="scan" to="scan_raw"/>
./ThirdParty/pmb2_navigation/pmb2_laser_sensors/launch/sick-571_laser.launch:    <remap from="scan" to="scan_raw"/>
./ThirdParty/pmb2_navigation/pmb2_laser_sensors/launch/sick-551_laser.launch:    <remap from="scan" to="scan_raw"/>
./ThirdParty/pmb2_navigation/pmb2_laser_sensors/launch/sick-561_laser.launch:    <remap from="scan" to="scan_raw"/>
./ThirdParty/pal_gazebo_worlds/worlds/calibration_room.world:            <topicName>scan_raw</topicName>
./book_ros2/br2_fsm_bumpgo_cpp/launch/bump_and_go.launch.py:                        ('input_scan', '/scan_raw'),
./book_ros2/br2_bt_patrolling/launch/patrolling.launch.py:          ('input_scan', '/scan_raw'),
./book_ros2/br2_navigation/params/mapper_params_online_async.yaml:    scan_topic: /scan_raw
./book_ros2/br2_navigation/params/tiago_nav_params.yaml:    scan_topic: scan_raw
./book_ros2/br2_navigation/params/tiago_nav_params.yaml:          topic: /scan_raw
./book_ros2/br2_navigation/params/tiago_nav_params.yaml:          topic: /scan_raw
./book_ros2/br2_vff_avoidance/launch/avoidance_vff.launch.py:        ('input_scan', '/scan_raw'),
./book_ros2/br2_tf2_detector/launch/detector_basic.launch.py:                          ('input_scan', '/scan_raw')
./book_ros2/br2_tf2_detector/launch/detector_improved.launch.py:                          ('input_scan', '/scan_raw')
./book_ros2/br2_fsm_bumpgo_py/launch/bump_and_go.launch.py:                        ('input_scan', '/scan_raw'),
./book_ros2/code_annex.tex:                        ('input_scan', '/scan_raw'),
./book_ros2/code_annex.tex:                        ('input_scan', '/scan_raw'),
./book_ros2/code_annex.tex:                          ('input_scan', '/scan_raw')
./book_ros2/code_annex.tex:                          ('input_scan', '/scan_raw')
./book_ros2/code_annex.tex:        ('input_scan', '/scan_raw'),
./book_ros2/code_annex.tex:          ('input_scan', '/scan_raw'),
./install/br2_fsm_bumpgo_py/share/br2_fsm_bumpgo_py/launch/bump_and_go.launch.py:                        ('input_scan', '/scan_raw'),

I found this

tiago_2dnav_gazebo/CHANGELOG.rst: now uses laser filter to provide scan and scan_raw

• how do I use filters ?? why is it not enabled by default ? :
• what could I check ?
• how to activate a /scan_row topic ?

thanks for your help

...and let me know if you need more information's

more details can be found on this post https://robotics.stackexchange.com/posts/104030/edit

[saikishor]

Hello @phil123456,

Thank you for showing interest in our simulation. We will try to reproduce the issue at our end. We will update you on this soon.

Thank you,

Best Regards, PAL Robotics Team.

[Noel215]

Hello @phil123456,

We've been trying to reproduce the issue by using the same commands as you specified:

# Terminal 1
ros2 launch br2_tiago sim.launch.py 

# Terminal 2
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=key_vel

However, we can see the topics that you say that are missing:

~/tmp_ws$ ros2 topic list  | grep raw
/head_front_camera/depth_registered/image_raw
/head_front_camera/rgb/image_raw
/scan_raw

what could I check ? how to activate a /scan_row topic ?

Please, check that you are using the last version of the packages and try it in a clean workspace

how do I use filters ?? why is it not enabled by default ? :

The laser filters are enabled for navigation, so if you want to use it you have to launch also navigation. You can use: ros2 launch br2_tiago sim.launch.py navigation:=true