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Tutorial code referenced in https://docs.nav2.org/
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[nav2_gps_waypoint_follower_demo] On Iron, No publishing of GPS after launching gazebo gps world #94

Closed jimdinunzio closed 3 months ago

jimdinunzio commented 3 months ago

I'm following the instructions for the navigation2_with_gps tutorial. But after the step to launch the gazebo demo, there is nothing published on /gps/fix.

ros2 launch nav2_gps_waypoint_follower_demo gazebo_gps_world.launch.py

I upgraded from Humble to Iron so I can use the gps waypoint follower

I had to install gazebo because the code in this github uses gzclient and gzserver. It does not use the newer Ignition version.

Maybe it cannot find the gps_sensor plugin and i do not know how to install it.

There is no error output

$ ros2 launch nav2_gps_waypoint_follower_demo gazebo_gps_world.launch.py [INFO] [launch]: All log files can be found below /home/jim/.ros/log/2024-08-30-19-55-21-432365-Robuntu-6480 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [gzserver-1]: process started with pid [6483] [INFO] [gzclient-2]: process started with pid [6485] [INFO] [robot_state_publisher-3]: process started with pid [6487] [robot_state_publisher-3] [INFO] [1725072921.556795322] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-3] [INFO] [1725072921.556862742] [robot_state_publisher]: got segment base_link [robot_state_publisher-3] [INFO] [1725072921.556866601] [robot_state_publisher]: got segment base_scan [robot_state_publisher-3] [INFO] [1725072921.556868545] [robot_state_publisher]: got segment camera_depth_frame [robot_state_publisher-3] [INFO] [1725072921.556870478] [robot_state_publisher]: got segment camera_depth_optical_frame [robot_state_publisher-3] [INFO] [1725072921.556872562] [robot_state_publisher]: got segment camera_link [robot_state_publisher-3] [INFO] [1725072921.556874650] [robot_state_publisher]: got segment camera_rgb_frame [robot_state_publisher-3] [INFO] [1725072921.556876466] [robot_state_publisher]: got segment camera_rgb_optical_frame [robot_state_publisher-3] [INFO] [1725072921.556878283] [robot_state_publisher]: got segment caster_back_left_link [robot_state_publisher-3] [INFO] [1725072921.556880041] [robot_state_publisher]: got segment caster_back_right_link [robot_state_publisher-3] [INFO] [1725072921.556881883] [robot_state_publisher]: got segment gps_link [robot_state_publisher-3] [INFO] [1725072921.556883764] [robot_state_publisher]: got segment imu_link [robot_state_publisher-3] [INFO] [1725072921.556885477] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher-3] [INFO] [1725072921.556887240] [robot_state_publisher]: got segment wheel_right_link $rtl /joint_states /parameter_events /robot_description /rosout /tf /tf_static Can somebody help?
jimdinunzio commented 3 months ago

Never mind. I was naively installing the wrong gazebo package and getting confused about classic vs Ignition,

sudo apt install gazebo

Instead of

sudo apt install ros-$ROS_DISTRO-gazebo-*

I submitted a ros2-navigation issue to recommend some additional requirements:

https://github.com/ros-navigation/docs.nav2.org/issues/588