Issues with demos - Githubissues

nicholaspalomo commented 3 years ago

Hi, everyone,

Here are some issues in the demos and the changes I made to get them to work:

[ ] In step 2 under the heading "Using ForwardCommandController" of the ReadMe,

ros2 control switch_controllers --start-controllers forward_position_controller should be changed to: ros2 control switch_controllers --start forward_position_controller

[ ] In step 3 of the same section of the ReadMe: ros2 launch ros2_control_test_nodes rrbot_test_forward_position_controller.launch.py should be changed to: ros2 launch ros2_control_demo_robot test_forward_position_controller.launch.py

[ ] In test_forward_position_controller.launch.py, lines 25-29 should be changed to:

position_goals = os.path.join(
    get_package_share_directory("ros2_control_demo_robot"),
    "config",
    "rrbot_forward_position_publisher.yaml",
)

[ ] In rrbot_controllers.yaml, line 14 should be changed from: forward_position_controller to: /forward_position_controller.

[ ] In rrbot_system_position_only _gazebo.launch.py, just after line 62, I think should be added:

rrbot_forward_controller = os.path.join(
    get_package_share_directory("ros2_control_demo_robot"), "config", "rrbot_controllers.yaml"
)

spawn_controller = Node(
    package="controller_manager",
    executable="spawner.py",
    arguments=["forward_position_controller", "--param-file", rrbot_forward_controller, "-t", "forward_command_controller/ForwardCommandController"],
    output="screen",
)

So that the rrbot Gazebo example can be run with ros2 launch ros2_control_demo_robot rrbot_system_position_only_gazebo.launch.py

Let me know if there's something you'd like me to investigate further regarding this Github Issue. Thanks for your contributions!

bmagyar commented 3 years ago

Could you please open a pull request with these changes?

olivier-stasse commented 3 years ago

Dear @nicholaspalomo could you confirm that you still have a problem with the current HEAD of master, i.e. commit 3326857b6186772269e57d75d7da3b25ba9681a0 ?

nicholaspalomo commented 3 years ago

Dear @nicholaspalomo could you confirm that you still have a problem with the current HEAD of master, i.e. commit 3326857 ?

Hi, @olivier-stasse. Sorry for my late reply. I'll check it now and get back to you.

nicholaspalomo commented 3 years ago

Dear @nicholaspalomo could you confirm that you still have a problem with the current HEAD of master, i.e. commit 3326857 ?

Hi, @olivier-stasse. Sorry for my late reply. I'll check it now and get back to you.

@olivier-stasse I started from a completely new/clean workspace. One thing I noticed is I get an error during the build process:

Could not find a package configuration file provided by "test_msgs" with
  any of the following names:

    test_msgsConfig.cmake
    test_msgs-config.cmake
...

When I tried installing test_msgs from binaries, it seems there was none available for foxy. I cloned rcl_interfaces to my src folder and checkout out the foxy branch. That resolved the issue for me. So, maybe in the ros2_control_demos.repos file the following lines:

  rcl_interfaces:
    type: git
    url: https://github.com/ros2/rcl_interfaces.git
    version: foxy

could be added.

I also tried running the RRbot Gazebo example.

ros2 launch ros2_control_demo_bringup rrbot_system_position_only_gazebo.launch.py

Unfortunately, it seems like the joint_state_broadcaster fails to spawn:

[spawner.py-5] [INFO] [1624473903.781432050] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1624473905.792608533] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1624473907.803833537] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawner.py-5] [ERROR] [1624473909.813738332] [spawner_joint_state_broadcaster]: Controller manager not available
[ERROR] [spawner.py-5]: process has died [pid 85081, exit code 1, cmd '/home/nicholas/workspace/dummy_ws/install/lib/controller_manager/spawner.py joint_state_broadcaster --ros-args'].

I'm not 100% sure why this is happening, especially since I do almost the exact same thing in a project of mine and the joint state broadcaster spawns without issue.

olivier-stasse commented 3 years ago

@nicholaspalomo Thanks for the tests. I will investiguate.

Karsten1987 commented 3 years ago

Could not find a package configuration file provided by "test_msgs"

That's not an issue with the demos. That's pretty normal if you compile your packages from source as their dependencies are not automatically installed opposed to a binary installation via aptitude. For source builds you can crawl your workspace and install their declared dependencies as follows:

rosdep install --from-paths src --ignore-src --rosdistro=foxy -y

When I tried installing test_msgs from binaries, it seems there was none available for foxy

The package is called ros-foxy-test-msgs. Note that underscores _ are replaced with dashes -.

Once you've fixed your installation, can you please try a fresh clean build of your workspace and verify that the rrbot demo still does not work?

blakermchale commented 3 years ago

I tried the rrbot gazebo demo also and had the same issue where the controller manager did not spawn. I didn't have any issues during the build process either. Here's a snippet from my terminal:

[robot_state_publisher-3] Parsing robot urdf xml string.
[robot_state_publisher-3] Link base_link had 1 children
[robot_state_publisher-3] Link link1 had 1 children
[robot_state_publisher-3] Link link2 had 3 children
[robot_state_publisher-3] Link camera_link had 1 children
[robot_state_publisher-3] Link camera_link_optical had 0 children
[robot_state_publisher-3] Link hokuyo_link had 0 children
[robot_state_publisher-3] Link tool_link had 0 children
[robot_state_publisher-3] [INFO] [1625896402.774375148] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1625896402.774428218] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-3] [INFO] [1625896402.774433127] [robot_state_publisher]: got segment camera_link_optical
[robot_state_publisher-3] [INFO] [1625896402.774436804] [robot_state_publisher]: got segment hokuyo_link
[robot_state_publisher-3] [INFO] [1625896402.774460509] [robot_state_publisher]: got segment link1
[robot_state_publisher-3] [INFO] [1625896402.774464115] [robot_state_publisher]: got segment link2
[robot_state_publisher-3] [INFO] [1625896402.774467472] [robot_state_publisher]: got segment tool_link
[robot_state_publisher-3] [INFO] [1625896402.774470848] [robot_state_publisher]: got segment world
[spawner.py-5] [INFO] [1625896402.887729461] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawn_entity.py-4] [INFO] [1625896403.000861777] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1625896403.001097300] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-4] [INFO] [1625896403.001862636] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-4] [INFO] [1625896403.017304300] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1625896403.017605235] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1625896403.771084996] [spawn_entity]: Calling service /spawn_entity
[gzserver-1] [INFO] [1625896404.126696396] [camera_controller]: Publishing camera info to [/camera1/camera_info]
[spawn_entity.py-4] [INFO] [1625896404.131884184] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [rrbot_system_position]
[gzserver-1] [WARN] [1625896404.155856850] [gazebo_ros_head_hokuyo_controller]: missing <output_type>, defaults to sensor_msgs/PointCloud2
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 69130]
[spawner.py-5] [INFO] [1625896404.895066548] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1625896406.903291762] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1625896408.910918844] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1625896410.918821286] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
[spawner.py-5] [ERROR] [1625896412.926279155] [spawner_joint_state_broadcaster]: Controller manager not available
[ERROR] [spawner.py-5]: process has died [pid 69133, exit code 1, cmd '/opt/ros/foxy/lib/controller_manager/spawner.py joint_state_broadcaster --ros-args'].

destogl commented 3 years ago

@blakermchale thanks for pointing this out. I'll look at this later today.

destogl commented 1 year ago

obsolete.

ros-controls / ros2_control_demos

Issues with demos #97