Closed nilutpolkashyap closed 4 months ago
Hi @Noel215 , any help would be appreciated
Hi @nilutpolkashyap,
It stopped working after they merged https://github.com/ros-controls/ros2_control/pull/1272 4 days ago.
I just opened an issue in the ros2_control
repository.
For now you can checkout your local repository to the latest tag to make it work
git checkout 2.36.1
I hope that resolves your problem.
Hi @Noel215 I checkout out version 2.36.1 but I am again getting the following error.
I also tried out different versions of ros2_control
and gazebo_ros2_control
but I still get the same error
If you clone the latest version of ros2_controllers
it should work. I provided a fix for that in https://github.com/ros-controls/ros2_controllers/pull/968.
For more information see https://github.com/ros-controls/ros2_controllers/issues/966.
hello!
It will be solved with the upcoming sync: https://discourse.ros.org/t/preparing-for-humble-sync-and-patch-release-2024-01-26/35765
Thank you for your patience
Best Regards, PAL Robotics Team
Just as a heads-up, I am experiencing the same issue with all the latest releases (checkout from source ros2_controllers, gazebo_ros2_control, ros2_control along with all the latest humble releases of your packages).
Any insight would be highly appreciated!
Edit: Issue https://github.com/pal-robotics/tiago_simulation/issues/29 also applies to me, but since it is still open, I guess it is being tracked, and that's why I did not mention it.
Hello @gstavrinos !
This has been recently reviewed and fixed. It should work. If it isn't, please send us more information to reproduce it. Try with the binaries installed, instead of compiling from source. We hope it helps.
Best regards, PAL Robotics Team
Hey @saikishor,
Thank you for your quick reply. I tried both with the binaries and from source with the exact same results. I can provide you with whatever information you may ask, but I basically face the exact same error specified in this issue (missing controller manager).
Thanks for the prompt reply. Can you please share the versions of the above packages and also hardware_interface and controller_mansger?
Thank you,
Best regards, PAL Robotics Team
Here you are:
gazebo_ros2_control
: 0.4.6
hardware_interface
: 2.38.0
controller_manager
: 2.38.0
ros2_controllers
: 2.32.0
ros2_control
: 2.38.0
tiago_moveit_config
: 3.0.9
tiago_navigation
: 4.0.10
tiago_gazebo
: 4.0.9
tiago_robot
: 4.2.2
play_motion2
: 0.0.15
launch_pal
: 0.0.18
pal_gazebo_worlds
: 4.0.3
pal_urdf_utils
: 2.0.1
I understand that some of there are most probably irrelevant, but I guess "excessive" information would not hurt!
Hi @gstavrinos,
The latest released versions are working, you don't need to have a workspace.
Just open a new environment (e.g. docker) and run:
sudo apt update
sudo apt install ros-humble-tiago-simulation
In case you want to have it in your workspace here you have the latest release for each repository on humble
:
ros2_control
: 2.37.0
ros2_controllers
: 2.32.0
gazebo_ros2_control
: 0.4.6
tiago_moveit_config
: 3.0.7
tiago_nav
: 4.0.9
tiago_robot
: 4.1.2
tiago_simulation
: 4.0.8
play_motion2
: 0.0.13
launch_pal
: 0.0.16
pal_gazebo_worlds
: 4.0.3
pal_urdf_utils
: 2.0.1
Let us know, please.
Hello @Noel215,
Thanks for getting back to me with such a detailed answer. I will test it and reply with my feedback asap. I plan on doing this in the next few days.
Thanks again!
Hi @Noel215 , Your previous solutions helped me to solve the robot's control problem with teleop. I was able to drive the robot.
But today I checked the robot's head joints and also tried to use the moveit demos as shown here , none of the joints worked. I am not able to control any of the joints. When I try to execute the trajectory, the Moveit example shows me a "Failed" message in Rviz2.
Any help would be appreciated
Hi @nilutpolkashyap,
I've just tested it in a fresh humble
docker with the debian installation and everything is working for me:
sudo apt install ros-humble-tiago-simulation
I've tried with some random valid trajectories.
Please, try it in the same way and if it's still not working give us more details in order to reproduce the issue.
I am getting back to this, just to confirm that, indeed, a completely fresh installation of the binary packages works without problems. Thank you!
Thank you for confirming it. I'll go ahead and close the issue
Issue: Tiago Simulation ROS 2 humble branch does not move any of its joints.
I was previously able to solve this issue here by just cloning the ros2_control humble branch and gazebo_ros2_control humble branch in my workspace and building them. Here is my previous issue #22
But now, I am repeating the same steps but now the controllers are not working. I am not able to control the simulation using keyboard.
System Specs
Steps I Followed
I am trying to launch Tiago robot simulation in Gazebo Classic using
ros2 launch tiago_gazebo tiago_gazebo.launch.py arm:=no-arm
Terminal Output (with Error)
Even if I try to move the robot, I get nothing, no movement
ros2 topic pub /mobile_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist '{linear: {x: 1}, angular: {z: 0}}' -r10
Please help me out. Thank you