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robotics-upo / hunav_gazebo_wrapper

A ROS2 wrapper to use the HuNavSim with the Gazebo Simulator
MIT License
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People stuck in the ground Cafe #7

Closed masskro0 closed 3 months ago

masskro0 commented 3 months ago

Setup: Ubuntu 22.04 ROS Humble

If I launch the cafe example using ros2 launch hunav_gazebo_wrapper example_cafe.launch.py
then all people are stuck in the ground and can't move. I don't see any error/warning messages in the terminal. According to the terminal, each person has a unique spawn point, but somehow in the sim, they all spawn in the same location.

ros2 node list reveals the following nodes:

/gazebo
/hunav_agent_manager
/hunav_evaluator_node
/hunav_gazebo_world_generator
/hunav_loader

Am I missing something?

noeperez commented 3 months ago

Hi @masskro0 I have just tested with last available versions of the code (HuNavSim and GazeboWrapper which I updated both 2 days ago) in the same setup (Ubuntu22 and ROS Humble) and example_cafe.launch.py is working properly for me. So I have no clue about what can be happening. I do not know whether can be related...Which Gazebo version are you using? (we tested just with Gazebo 11) It is your Gazebo using the GPU properly?

masskro0 commented 3 months ago

I'm also using the newest commit with Gazebo 11. I'm not sure whether my GPU is being used, but I get the following message: [__NV_PRIME_RENDER_OFFLOAD=1 __GLX_VENDOR_LIBRARY_NAME=nvidia -6]: process started with pid [301788]

I noticed that all topics are empty, e.g. /people, /human_states and so on. I guess that some node hasn't started, or at least one specific node is not publishing anything.

noeperez commented 3 months ago

I have noticed that you have a missing node: /hunav_plugin (this is the Gazebo plugin in charge of communicating with the /hunav_agent_manager).
Check the screen output when you run it. At some point that node dies in your case.

masskro0 commented 3 months ago

I was only able to see the issue by enabling the verboseoption. I had problems with the boost library and got that sorted out by modifying the CMakeLists file. Now everything is working fine, even though I'm getting the error [gazebo_shared.cc:46] System is attempting to load a plugin, but detected an incorrect plugin type. Plugin filename[libgazebo_ros_state.so]. which corresponds to issue #3