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tu-darmstadt-ros-pkg / hector_gazebo

hector_gazebo provides packages related to the simulation of robots using gazebo (gazebo plugins, world files etc.).
http://www.ros.org/wiki/hector_gazebo
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Cannot run the libhector_gazebo_ros_gps.so plugin #97

Closed austin-InDro closed 1 year ago

austin-InDro commented 1 year ago

I attemped to compile the foxy-devel branch Hector_Gazebo system on my machine locally since there is not a binary package available for ROS2 yet. I was faced with some CMake issues which I resolved enough to compile, but I fear something else linking wise may be missing since the plugin cannot load into Gazebo properly.

I've added the workspace/build/hector_gazebo_plugins to the $GAZEBO_PLUGIN_PATH

The following is some additional information

System: ROS Humble

Error Output

gazebo-11.10.2 --verbose -s libhector_gazebo_ros_gps.so /home/austin/Documents/2ws/install/sim_bot_description/share/sim_bot_description/world/my_world.sdf
Gazebo multi-robot simulator, version 11.10.2
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.68.139
Gazebo multi-robot simulator, version 11.10.2
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Err] [gazebo_shared.cc:46] System is attempting to load a plugin, but detected an incorrect plugin type. Plugin filename[libhector_gazebo_ros_gps.so].

CMake File for Hector_gazebo_plugin

cmake_minimum_required(VERSION 3.5)
project(hector_gazebo_plugins VERSION 0.5.3)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

## Find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(gazebo REQUIRED)
find_package(gazebo_ros REQUIRED)
find_package(geographic_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(rmw_implementation_cmake REQUIRED)

## Find gazebo
if(POLICY CMP0054)
  cmake_policy(SET CMP0054 NEW)
endif()
# find_package(gazebo REQUIRED)
# set(GAZEBO_INCLUDE_DIRS "/usr/include/gazebo-11/gazebo/")
# set(GAZEBO_LIBRARIES "/usr/lib/x86_64-linux-gnu/libgazebo-11.so")
# set(GAZEBO_LIBRARY_DIRS "/usr/lib/x86_64-linux-gnu/")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
include_directories(${GAZEBO_INCLUDE_DIRS})
link_directories(${GAZEBO_LIBRARY_DIRS})

## Find Boost
# find_package(Boost REQUIRED COMPONENTS thread)
# include_directories(${Boost_INCLUDE_DIRS})

# Set includes
set(INCLUDE_DIRS include 
    ${sensor_msgs_INCLUDE_DIRS}
    ${rclcpp_INCLUDE_DIRS}
    ${CMAKE_CURRENT_BINARY_DIR}/srv
)
include_directories(${INCLUDE_DIRS})

set(LIBS
    geographic_msgs 
    geometry_msgs
    sensor_msgs
    std_msgs
    rclcpp
    tf2
    tf2_geometry_msgs
    tf2_ros
    nav_msgs
    gazebo
    gazebo_ros
)

#######################################
## Declare ROS messages and services ##
#######################################

## Generate messages
rosidl_generate_interfaces(${PROJECT_NAME}
  srv/SetBias.srv
  srv/SetReferenceGeoPose.srv
  DEPENDENCIES geographic_msgs geometry_msgs
)

###########
## Build ##
###########

set(HECTOR_GAZEBO_ROS_PLUGINS_LIST "")

# add_library(diffdrive_plugin_6w src/diffdrive_plugin_6w.cpp)
# target_link_libraries(diffdrive_plugin_6w ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})

# add_library(diffdrive_plugin_multi_wheel src/diffdrive_plugin_multi_wheel.cpp)
# target_link_libraries(diffdrive_plugin_multi_wheel ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})

# add_library(gazebo_ros_force_based_move src/gazebo_ros_force_based_move.cpp)
# target_link_libraries(gazebo_ros_force_based_move ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})

# add_library(hector_gazebo_reset_plugin src/reset_plugin.cpp)
# target_link_libraries(hector_gazebo_reset_plugin ${GAZEBO_LIBRARIES})
# list(APPEND HECTOR_GAZEBO_ROS_PLUGINS_LIST hector_gazebo_reset_plugin)
# ament_target_dependencies(hector_gazebo_reset_plugin ${LIBS})

# add_library(hector_gazebo_ros_imu src/gazebo_ros_imu.cpp)
# target_link_libraries(hector_gazebo_ros_imu ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES})
# list(APPEND HECTOR_GAZEBO_ROS_PLUGINS_LIST hector_gazebo_ros_imu)
# ament_target_dependencies(hector_gazebo_ros_imu ${LIBS})

# add_library(hector_gazebo_ros_magnetic src/gazebo_ros_magnetic.cpp)
# target_link_libraries(hector_gazebo_ros_magnetic ${GAZEBO_LIBRARIES})
# list(APPEND HECTOR_GAZEBO_ROS_PLUGINS_LIST hector_gazebo_ros_magnetic)
# ament_target_dependencies(hector_gazebo_ros_magnetic ${LIBS})

add_library(hector_gazebo_ros_gps src/gazebo_ros_gps.cpp)
target_link_libraries(hector_gazebo_ros_gps ${GAZEBO_LIBRARIES})
# ament_target_dependencies(hector_gazebo_ros_gps ${LIBS})
list(APPEND HECTOR_GAZEBO_ROS_PLUGINS_LIST hector_gazebo_ros_gps)
ament_target_dependencies(hector_gazebo_ros_gps ${LIBS})

# add_library(hector_gazebo_ros_sonar src/gazebo_ros_sonar.cpp)
# target_link_libraries(hector_gazebo_ros_sonar ${GAZEBO_LIBRARIES})
# list(APPEND HECTOR_GAZEBO_ROS_PLUGINS_LIST hector_gazebo_ros_sonar)
# ament_target_dependencies(hector_gazebo_ros_sonar ${LIBS})

# add_library(hector_servo_plugin src/servo_plugin.cpp)
# target_link_libraries(hector_servo_plugin ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES})

# Connect targets with locally defined messages
# get_available_rmw_implementations(rmw_implementations2)
# foreach(rmw_implementation ${rmw_implementations2})
#   find_package("${rmw_implementation}" REQUIRED)
#   get_rmw_typesupport(typesupport_impls "${rmw_implementation}" LANGUAGE "cpp")
#   foreach(typesupport_impl ${typesupport_impls})
#     rosidl_target_interfaces(hector_gazebo_ros_imu ${PROJECT_NAME} ${typesupport_impl})
#     # message(WARNING, ${typesupport_impl})
#     rosidl_target_interfaces(hector_gazebo_ros_gps ${PROJECT_NAME} ${typesupport_impl})
#   endforeach()
# endforeach()
# rosidl_target_interfaces(hector_gazebo_ros_gps ${PROJECT_NAME} rosidl_typesupport_cpp)
rosidl_target_interfaces(hector_gazebo_ros_gps ${PROJECT_NAME} rosidl_typesupport_introspection_cpp)
rosidl_target_interfaces(hector_gazebo_ros_gps ${PROJECT_NAME} rosidl_typesupport_fastrtps_cpp)
# rosidl_target_interfaces(hector_gazebo_ros_gps ${PROJECT_NAME} rosidl_typesupport_introspection_cpp)
# rosidl_target_interfaces(hector_gazebo_ros_gps ${PROJECT_NAME} rosidl_service_type_support_tv) 
# #############
# ## Install ##
# #############

install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION include
  FILES_MATCHING PATTERN "*.h"
  PATTERN ".svn" EXCLUDE
)

install(TARGETS ${HECTOR_GAZEBO_ROS_PLUGINS_LIST}
  DESTINATION lib/${PROJECT_NAME}
  LIBRARY DESTINATION lib
)

# install(TARGETS
#   diffdrive_plugin_6w
#   diffdrive_plugin_multi_wheel
#   gazebo_ros_force_based_move
#   hector_gazebo_reset_plugin
#   hector_gazebo_ros_imu
#   hector_gazebo_ros_magnetic
#   hector_gazebo_ros_gps
#   hector_gazebo_ros_sonar
#   hector_servo_plugin
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

ament_package()

If a solution can be found I can help with a pull requst to others can use it in Humble as well.

Martin-Oehler commented 1 year ago

This seems to be the same problem as #93.

austin-InDro commented 1 year ago

I've looked at https://github.com/tu-darmstadt-ros-pkg/hector_gazebo/issues/93 but their issue seemed to pertain to CMake outputting .a files, not .so. However, I'm able to import .so files. Does anyone else have this issue with ROS2?

cadmus-to commented 1 year ago

Maybe silly question, but is that the output of Gazebo using ROS 1? I haven't tried using ROS 1 and ROS 2 before but are you sure that works?

austin-InDro commented 1 year ago

I'm most likely doing something silly so I appreciate the questions! No, it's definately ROS2 since I haven't installed ROS1 on this system. Is it manditory that there is geometry associated with the link before passing it into the GPS plugin?

Martin-Oehler commented 1 year ago

At least in Gazebo (Classic), links without associated physical properties (mass, inertia) are removed, unless you mark them with a special tag.

austin-InDro commented 1 year ago

That wouldn't case the plugin load error though, would it?

austin-InDro commented 1 year ago

So I was able to load the plugin by just moving the compiled library to the gazebo pluigin directory instead of sourcing my own build directory.

However, another error has appeared

[gazebo-1] gzserver: symbol lookup error: /usr/lib/x86_64-linux-gnu/gazebo-11/plugins/libhector_gazebo_ros_gps.so: undefined symbol: _ZN22rosidl_typesupport_cpp31get_service_type_support_handleIN21hector_gazebo_plugins3srv19SetReferenceGeoPoseEEEPK29rosidl_service_type_support_tv
Wimll commented 1 year ago

So I was able to load the plugin by just moving the compiled library to the gazebo pluigin directory instead of sourcing my own build directory.

However, another error has appeared

[gazebo-1] gzserver: symbol lookup error: /usr/lib/x86_64-linux-gnu/gazebo-11/plugins/libhector_gazebo_ros_gps.so: undefined symbol: _ZN22rosidl_typesupport_cpp31get_service_type_support_handleIN21hector_gazebo_plugins3srv19SetReferenceGeoPoseEEEPK29rosidl_service_type_support_tv

Hi @austin-InDro , did you ever manage to solve this error?

austin-InDro commented 1 year ago

Hi @Wimll, yeah. I moved it to the plugin directory with all other Gazebo Plugins manually. The error went away after that.

austin-InDro commented 1 year ago

This still doesn't work with a fresh pull though. I've forked the latest to attempt the fix. However, I'm currently having issues with the GPS and IMU not being able to see the created srv...

Wimll commented 1 year ago

Hmm thanks, still sounds like this all needs some proper reworking to actually function on Humble

austin-InDro commented 1 year ago

Yeah... I'll close this issue, but the resolution isn't ideal haha. When I have a few moments over the next few days. I can open another ticket with the current error I'm having. If we can fix that, the plugins will work on Humble.

Wimll commented 1 year ago

Hi @austin-InDro , I solved the linking errors by adding the following lines and commenting the existing rosidl_target_interfaces commands:

# rosidl_target_interfaces(hector_gazebo_ros_gps ${PROJECT_NAME} rosidl_typesupport_cpp)
# rosidl_target_interfaces(hector_gazebo_ros_gps ${PROJECT_NAME} rosidl_typesupport_introspection_cpp)
# rosidl_target_interfaces(hector_gazebo_ros_gps ${PROJECT_NAME} rosidl_typesupport_fastrtps_cpp)
# rosidl_target_interfaces(hector_gazebo_ros_gps ${PROJECT_NAME} rosidl_typesupport_introspection_cpp)
# rosidl_target_interfaces(hector_gazebo_ros_gps ${PROJECT_NAME} rosidl_service_type_support_tv) 

rosidl_get_typesupport_target(IDL_TARGETS ${PROJECT_NAME} rosidl_typesupport_cpp)
target_link_libraries(hector_gazebo_ros_gps ${IDL_TARGETS})

I had to dive into the source code of rosidl to fix this, but it seems to work. The plugin now works fine, without copying it to the default gazebo plugins folder. I get GPS output, I did not add a fix for the IMU as I am using the default IMU sensor simulator from Gazebo. What errors were you getting after this?

austin-InDro commented 1 year ago 
In file included from /home/austingreisman/Documents/ws/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_gps.cpp:29:
/home/austingreisman/Documents/ws/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_gps.h:40:10: fatal error: hector_gazebo_plugins/srv/set_reference_geo_pose.hpp: No such file or directory
   40 | #include <hector_gazebo_plugins/srv/set_reference_geo_pose.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/hector_gazebo_ros_gps.dir/build.make:76: CMakeFiles/hector_gazebo_ros_gps.dir/src/gazebo_ros_gps.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:678: CMakeFiles/hector_gazebo_ros_gps.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
In file included from /home/austingreisman/Documents/ws/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_imu.cpp:29:
/home/austingreisman/Documents/ws/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_imu.h:48:10: fatal error: hector_gazebo_plugins/srv/set_bias.hpp: No such file or directory
   48 | #include <hector_gazebo_plugins/srv/set_bias.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/hector_gazebo_ros_imu.dir/build.make:76: CMakeFiles/hector_gazebo_ros_imu.dir/src/gazebo_ros_imu.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:626: CMakeFiles/hector_gazebo_ros_imu.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

@Wimll do you have a forked version of your fixes? I can try them on my machine to see if this error still occurs.

Wimll commented 1 year ago

@austin-InDro I did fork it, but it's a private repo of the company I work at so I am not able to share it with you.. But I just used the humble-devel branch with your cmakelists from this discussion and added the changes from my previous comment, that should work!

austin-InDro commented 1 year ago

I had to dive into the source code of rosidl to fix this, but it seems to work.

Okay sweet thanks @Wimll. I'll give it a try and let you know soon.