error running ros2 launch tiago_gazebo tiago_gazebo.launch.py

[AdrianCobo]

Type of bug

• [ ] A) Typo/error in Figure/text
• [X] B) Bug in code
• [ ] C) General comment, recommendation or petition

Issue Description

ros2 launch tiago_gazebo tiago_gazebo.launch.py not working

A) Typo/Error Description

Waiting for '/controller_manager' node to exist joy_teleop not working

Screenshot

how to reproduce

Steps to reproduce the behavior:

1. run in a terminal: ros2 launch br2_tiago sim.launch.py

Desktop :

• OS: [Ubuntu 22.04]
• ROS2 Distro [Humble]

[saikishor]

Hello @AdrianCobo,

We are preparing a readme file with more detailed instructions that we will made them available soon.

First of all, I recommend you change to Cyclone DDS. With the Fast-DDS we are having some issues, similar that the one you reported. You can do it by setting an 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.

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

Best Regards, PAL Robotics Team.

[AdrianCobo]

okay, thanks.

How i have to use the tiago_public.rosinstall ? Sorry for the question but i have never used it before.

Have a nice day, Adrián

[saikishor]

Hello @AdrianCobo,

You can refer to this page for more info: http://wiki.ros.org/vcstool.

We hope this helps. We are looking forward for you to use our TIAGo simulation in ROS2.

Best Regards, PAL Robotics Team.

[AdrianCobo]

thanks, but now I am getting this error executing ros2 launch tiago_gazebo tiago_gazebo.launch.py: 1665090451.7330711 [INFO] [launch]: All log files can be found below /home/adrian/.ros/log/2022-10-06-23-07-31-732528-PORTATIL-18169 1665090451.7332942 [INFO] [launch]: Default logging verbosity is set to INFO 1665090451.9130342 [ERROR] [launch]: Caught exception in launch (see debug for traceback): No module named 'launch_param_builder'

Thanks for all your help, Adrian

[saikishor]

Hello @AdrianCobo,

You are missing to install the package launch_param_builder. Please try to install the package or install all dependencies using rosdep. We hope this helps to solve your issue.

Thank you,

Best Regards, PAL Robotics Team.

[AdrianCobo]

All done but now i am getting the same initial issue

[Noel215]

Hi @AdrianCobo,

Execute dpkg -l | grep humble | grep control. I think you could be missing ros-humble-gazebo-ros2-control package. If not, try to clean your workspace and be sure that you are using Cyclone DDS.

For the next time, it's better for us that you paste the log instead of screenshots because it's easier to parse.

[AdrianCobo]

oh sorry, yeh you were right, that package was missing but I installed it and now the simulation is correctly working!!!

But now i have other problem; the robot does not move using: -ros2 launch tiago_gazebo tiago_gazebo.launch.py world_name:=factory or -ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=key_vel

:(

Thank you so much for all the help!!!

[saikishor]

Hello @AdrianCobo,

We are glad that it worked. Regarding the velocity, try to publish the velocity using the command line and see if you can publish. The topic to publish is /mobile_base_controller/cmd_vel_unstamped. We hope this helps.

Thank you,

Best Regards, PAL Robotics Team.

[AdrianCobo]

Yeh it works using ros2 topic pub -r 10 /mobile_base_controller/cmd_vel_unstamped geometry_msgs/Twist "linear: {x: 0.3}"

Thank you for all!!!

[saikishor]

Hello @AdrianCobo,

We are glad you could work it out.

Best Regards, PAL Robotics Team.