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tomasvr / turtlebot3_drlnav

A ROS2-based framework for TurtleBot3 DRL autonomous navigation
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Problem while running gazebo goals #10

Open Persius48 opened 9 months ago

Persius48 commented 9 months ago

after launching the gazebo simulation this is my console output,

[INFO] [launch]: All log files can be found below /home/tariqul/.ros/log/2023-10-03-15-29-38-751078-tariqul-pc-55141
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_burger.urdf
urdf_file_name : turtlebot3_burger.urdf
[INFO] [gzserver-1]: process started with pid [55142]
[INFO] [gzclient-2]: process started with pid [55144]
[INFO] [robot_state_publisher-3]: process started with pid [55146]
[robot_state_publisher-3] [WARN] [1696339779.662269372] [robot_state_publisher]: No robot_description parameter, but command-line argument available.  Assuming argument is name of URDF file.  This backwards compatibility fallback will be removed in the future.
[robot_state_publisher-3] [INFO] [1696339779.665330758] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-3] [INFO] [1696339779.665355195] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1696339779.665362358] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-3] [INFO] [1696339779.665368941] [robot_state_publisher]: got segment caster_back_link
[robot_state_publisher-3] [INFO] [1696339779.665375704] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-3] [INFO] [1696339779.665381905] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-3] [INFO] [1696339779.665388278] [robot_state_publisher]: got segment wheel_right_link
[gzserver-1] [WARN] [1696339780.310762526] [gazebo]: New subscription discovered on topic '/clock', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
[gzserver-1] [INFO] [1696339780.816841795] [turtlebot3_imu]: <initial_orientation_as_reference> is unset, using default value of false to comply with REP 145 (world as orientation reference)
[gzserver-1] [INFO] [1696339780.865540211] [turtlebot3_diff_drive]: Wheel pair 1 separation set to [0.160000m]
[gzserver-1] [INFO] [1696339780.865575959] [turtlebot3_diff_drive]: Wheel pair 1 diameter set to [0.066000m]
[gzserver-1] [INFO] [1696339780.866287704] [turtlebot3_diff_drive]: Subscribed to [/cmd_vel]
[gzserver-1] [INFO] [1696339780.866544883] [turtlebot3_diff_drive]: Advertise odometry on [/odom]
[gzserver-1] [INFO] [1696339780.868278633] [turtlebot3_diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[gzserver-1] [INFO] [1696339780.875945814] [turtlebot3_joint_state]: Going to publish joint [wheel_left_joint]
[gzserver-1] [INFO] [1696339780.875980229] [turtlebot3_joint_state]: Going to publish joint [wheel_right_joint]

when I use ros2 run turtlebot3_drl gazebo_goals in the second terminal there is the gazebo server shuts down adding this to the first terminal console output

[gzserver-1] [ERROR] [1696339903.547393046] [gazebo_ros_node]: Found multiple nodes with same name: /turtlebot3_imu. This might be due to multiple plugins using the same name. Try changing one of the the plugin names or use a different ROS namespace. This error might also result from a custom plugin inheriting from another gazebo_ros plugin and the custom plugin trying to access the ROS node object hence creating multiple nodes with same name. To solve this try providing the optional node_name argument in gazebo_ros::Node::Get() function. 
[ERROR] [gzserver-1]: process has died [pid 55142, exit code -11, cmd 'gzserver /home/tariqul/turtlebot3_drlnav/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_drl_stage4/burger.model --pause -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-3] [INFO] [1696339912.974422448] [rclcpp]: signal_handler(signum=2)
[INFO] [gzclient-2]: process has finished cleanly [pid 55144]
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 55146]

as a result in the fourst terminal when I run to test the agent it keeps waiting saying waiting for gazebo server. How should I tackle this issue??

tomasvr commented 3 months ago

As the error indicates, there seem to be multiple nodes with the same name: /turtlebot3_imu. This should not happen if you are using my setup without any other nodes connected to your local ROS network. Check if you have any other programs running that have a ROS node named /turtlebot3_imu. Try to see what ros2 node info /turtlebot3_imu says.