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sea-bass / turtlebot3_behavior_demos

Example repository for autonomous behaviors using TurtleBot3, as well as Docker workflows in ROS based projects.
MIT License
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Help -- Local Setup #29

Closed antbono closed 1 year ago

antbono commented 1 year ago

Hi everyone!

I am trying to run the demo based on the cpp library on my machine but I am missing something. I am running ros humble on ubu 22.04.

hereafter the steps I did:

  1. I installed and tested the turtlebot package as suggested in the instructions.
  2. I followed the instructions to build this demo in a local machine.
  3. I downloaded the Groot2 app image, placed in the home folder, renamed it as Groot2.AppImage (the file you download is slightly different) and I gave it execution permission.
  4. In a shell I set TURTLEBOT3_MODEL=waffle_pi and launched tb3_demo_world.launch.py
  5. In a shell I launched tb3_demo_beahvior_cpp.launch.py
  6. In rviz I set manually the initial 2d pose estimation.

The following snapshots show what I got

Screenshot from 2023-04-19 21-52-32 Screenshot from 2023-04-19 21-52-54 Screenshot from 2023-04-19 21-53-26

I can't understand what I am missing to place the three objects and start the behavior.

Thank you very much fort your time and consideration!

sea-bass commented 1 year ago

The block spawner node probably died with some error ... If you scroll up on the output of tb3_demo_world.launch.py, are there any errors?

antbono commented 1 year ago

Yes there are some errors. I took a snapshot

Screenshot from 2023-04-19 22-12-22

sea-bass commented 1 year ago

Ah, can you do pip3 install transforms3d and try again?

Also highly recommend switching from Fast DDS to Cyclone DDS: https://docs.ros.org/en/humble/Installation/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html -- this will get rid of a lot of the other spam and make things a bit more reliable

antbono commented 1 year ago

Thank you @sea-bass!

Now I can see all the objects and also rviz set automatically the initial pose estimation.

Screenshot from 2023-04-19 22-28-14

What should I do to start the behavior?

antbono commented 1 year ago

I am sorry, I have been launching the behavior launch file before than the world launch file. Now it seems to work fine.

Should I do something with this error about openSSL?

Screenshot from 2023-04-19 22-39-33

sea-bass commented 1 year ago

Great to hear! I should add some of these to the local setup steps.

I think the Groot2 SSL warnings are non critical, but perhaps there is something to remove the warnings?

sea-bass commented 1 year ago

@antbono You actually may be able to resolve the warnings with:

sudo apt-get install libssl1.1

Anyways, I updated the docs with some of the steps discussed in this issue. Thanks for reporting them!

antbono commented 1 year ago

@sea-bass Thank you for your super quick support! :D

p.s. in the updated local setup docs you could mention that the groot2 app image must be renamed from Groot2-x86_64.AppImage to Groot2.AppImage.