808brick
commented
3 years ago As an update, I have tried to recreate my launch file to better represent that in the examples, however I am running into issues launching it, as I get the following error:
ImportError: cannot import name 'GazeboRosPaths' from 'scripts' (/home/ray/Workspaces/udemy_ros2_ws/install/udemy_ros2_pkg/lib/python3.8/site-packages/scripts/__init__.py)
The launch file is as follows:
# Copyright 2020 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import ExecuteProcess, IncludeLaunchDescription, RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node
import xacro
def generate_launch_description():
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']),
)
# gazebo_ros2_control_demos_path = os.path.join(
# get_package_share_directory('gazebo_ros2_control_demos'))
#
# xacro_file = os.path.join(gazebo_ros2_control_demos_path,
# 'urdf',
# 'test_cart_position.xacro.urdf')
#
# doc = xacro.parse(open(xacro_file))
# xacro.process_doc(doc)
urdf_file_name = 'urdf/camera_bot.xacro'
urdf = os.path.join(
get_package_share_directory('ros2_sim_pkg'),
urdf_file_name)
params = {'robot_description': urdf}
node_robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[params]
)
spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
arguments=['-topic', 'robot_description',
'-entity', 'cartpole'],
output='screen')
load_joint_state_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_start_controller', 'joint_state_controller'],
output='screen'
)
load_joint_trajectory_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_start_controller', 'joint_trajectory_controller'],
output='screen'
)
return LaunchDescription([
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=spawn_entity,
on_exit=[load_joint_state_controller],
)
),
RegisterEventHandler(
event_handler=OnProcessExit(
target_action=load_joint_state_controller,
on_exit=[load_joint_trajectory_controller],
)
),
gazebo,
node_robot_state_publisher,
spawn_entity,
])
and the terminal output:
ay@ubuntu:~/Workspaces/udemy_ros2_ws$ ros2 launch ros2_sim_pkg gazebo_ros2_control_test.launch.py
[INFO] [launch]: All log files can be found below /home/ray/.ros/log/2021-03-31-01-20-49-067692-ubuntu-26382
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:271> exception=ImportError("cannot import name 'GazeboRosPaths' from 'scripts' (/home/ray/Workspaces/udemy_ros2_ws/install/udemy_ros2_pkg/lib/python3.8/site-packages/scripts/__init__.py)")>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 273, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 293, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
[Previous line repeated 3 more times]
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/include_launch_description.py", line 125, in execute
launch_description = self.__launch_description_source.get_launch_description(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
self._get_launch_description(self.__expanded_location)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/python_launch_description_source.py", line 51, in _get_launch_description
return get_launch_description_from_python_launch_file(location)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 62, in get_launch_description_from_python_launch_file
launch_file_module = load_python_launch_file_as_module(python_launch_file_path)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 37, in load_python_launch_file_as_module
loader.exec_module(mod)
File "<frozen importlib._bootstrap_external>", line 783, in exec_module
File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
File "/opt/ros/foxy/share/gazebo_ros/launch/gzserver.launch.py", line 28, in <module>
from scripts import GazeboRosPaths
ImportError: cannot import name 'GazeboRosPaths' from 'scripts' (/home/ray/Workspaces/udemy_ros2_ws/install/udemy_ros2_pkg/lib/python3.8/site-packages/scripts/__init__.py)
Schulze18
Thieso
newcanopies
MXS13
bmagyar
Flamethr0wer
christophfroehlich
I am trying to utilize the gazebo_ros2_control package for controlling the position of a revolute joint from a URDF file. However following along with the package README (which thankfully is better than most ROS2 pkg README's, so thank you for that), it seems something in the
ros2_controltag is causing gazebo to crash, as the adding the libgazebo_ros2_control.so file with thegazebotags alone without theros2_controltags does not crash gazebo.My URDF file spawned in fine prior to adding the following to the bottom within the
<robot>tags. I configured it as follows:With my config file having:
Basically I am trying to create a position controller to interact with my joint called
camera_pole_jointOS: Ubuntu 20.04 ROS Distro: Foxy (apt install)
Output of terminal running gazebo:
Terminal output of spawning in the URDF does not seem to throw any errors:
Here is my launch file in case it is of use:
I currently have the joint state publisher and auto launching gazebo commented out, as I was trying to make sure those were not interfering with the libgazebo_ros2_control.so.