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ros-drivers / urg_node

ROS wrapper for the Hokuyo urg_c library.
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No executable found with `ros2 run urg_node urg_node` command on ROS 2 dashing #68

Closed ShotaAk closed 4 years ago

ShotaAk commented 4 years ago

Describe the bug

I ran a command ros2 run urg_node urg_node on ROS2 dashing environment. That results the message No executable found.

Environments

To Reproduce

  1. Clone this repo locally and checkout to ros2-devel branch
  2. Run colcon build --symlink-install then run source install/setup.zsh
  3. Run ros2 run urg_node urg_node
  4. See error No executable found

Expected behavior

The urg_node will be running then publishing /scan topics.

Additional context

The correct executable node name is urg_node_driver that CMakeLists.txt shows.

https://github.com/ros-drivers/urg_node/blob/cb0efdc61c3bb4fde59ce3d1ec8b6bf1cc6da5dc/CMakeLists.txt#L54-L56

So, I ran a command ros2 urg_node urg_node_driver but no /scan topic published. This problem same as https://github.com/ros-drivers/urg_node/issues/66.

ShotaAk commented 4 years ago

I tried to make an executable node that executes UrgNode.run(). The node publish /scan topic successfully.

Source code of the executable node (urg_node_executable.cpp)

#include <memory>
#include "rclcpp/rclcpp.hpp"

#include "urg_node/urg_node.hpp"

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::executors::SingleThreadedExecutor exec;
  rclcpp::NodeOptions options;
  auto urg_node = std::make_shared<urg_node::UrgNode>(options);

  urg_node->run();

  exec.add_node(urg_node);
  exec.spin();
  rclcpp::shutdown();
}

New lines of the CMakeLists.txt

add_executable(urg_node_executable src/urg_node_executable.cpp)
target_link_libraries(urg_node_executable urg_node)
ament_target_dependencies(urg_node_executable
  rclcpp)

install(TARGETS urg_node_executable
  DESTINATION lib/${PROJECT_NAME}
)

( Actually, I wanted to change names urg_node to urg_node_component, urg_node_executable to urg_node.)

To reproduce:

  1. Run ros2 run urg_node urg_node_executable __params:=$HOME/ros2_ws/src/urg_node/launch/urg_node_serial.yaml
  2. Run ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 "world" "laser"
  3. Run rviz2

Result: image

mikeferguson commented 4 years ago

So, it looks dashing has version 1.0 released into it - the node has been renamed to "urg_node_driver". I've opened a PR to fix the documentation: https://github.com/ros-drivers/urg_node/pull/70

It should be noted that the node still doesn't run because of #66 - see my patch there (I haven't opened a PR yet for that one, cause I'm not sure it's the "right" fix).

mikeferguson commented 4 years ago

See also #71 - which should fix the run() issue in #66

mikeferguson commented 4 years ago

Fixed in version 1.0.1:

mikeferguson commented 4 years ago

1.0.1 released to foxy: https://github.com/ros/rosdistro/pull/25425

ShotaAk commented 4 years ago

@mikeferguson thank you for fixing and updating the package!