Closed ajjaya18 closed 5 months ago
@hilary-luo
I have this problem when I launch my own world andrius@andrius-HP-Pavilion-Laptop-15-eh0xxx:~/turtlebot4_ws$ ros2 launch turtlebot4_ignition_bringup ignition.launch.py world:=mi_mundo
[INFO] [launch]: All log files can be found below /home/andrius/.ros/log/2024-03-07-16-14-10-834014-andrius-HP-Pavilion-Laptop-15-eh0xxx-178044 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ign gazebo-1]: process started with pid [178048] [INFO] [parameter_bridge-2]: process started with pid [178051] [INFO] [parameter_bridge-3]: process started with pid [178053] [INFO] [parameter_bridge-4]: process started with pid [178055] [INFO] [parameter_bridge-5]: process started with pid [178057] [INFO] [parameter_bridge-6]: process started with pid [178059] [INFO] [parameter_bridge-7]: process started with pid [178061] [INFO] [parameter_bridge-8]: process started with pid [178063] [INFO] [parameter_bridge-9]: process started with pid [178065] [INFO] [parameter_bridge-10]: process started with pid [178067] [INFO] [parameter_bridge-11]: process started with pid [178069] [INFO] [parameter_bridge-12]: process started with pid [178071] [INFO] [parameter_bridge-13]: process started with pid [178073] [INFO] [parameter_bridge-14]: process started with pid [178075] [INFO] [robot_state_publisher-15]: process started with pid [178077] [INFO] [robot_state_publisher-16]: process started with pid [178079] [INFO] [static_transform_publisher-17]: process started with pid [178081] [INFO] [create-18]: process started with pid [178092] [INFO] [create-19]: process started with pid [178137] [INFO] [spawner-20]: process started with pid [178168] [INFO] [hazards_vector_publisher-21]: process started with pid [178221] [INFO] [ir_intensity_vector_publisher-22]: process started with pid [178291] [INFO] [motion_control-23]: process started with pid [178293] [INFO] [wheel_status_publisher-24]: process started with pid [178310] [INFO] [mock_publisher-25]: process started with pid [178314] [INFO] [robot_state-26]: process started with pid [178349] [INFO] [kidnap_estimator_publisher-27]: process started with pid [178365] [INFO] [ui_mgr-28]: process started with pid [178368] [INFO] [pose_republisher_node-29]: process started with pid [178370] [INFO] [sensors_node-30]: process started with pid [178401] [INFO] [interface_buttons_node-31]: process started with pid [178422] [INFO] [turtlebot4_node-32]: process started with pid [178424] [INFO] [turtlebot4_ignition_hmi_node-33]: process started with pid [178426] [INFO] [component_container-34]: process started with pid [178455] [INFO] [static_transform_publisher-35]: process started with pid [178457] [INFO] [static_transform_publisher-36]: process started with pid [178459] [parameter_bridge-12] [INFO] [1709846054.804184357] [turtlebot4.hmi_led_msg_bridge]: Passing message from ROS std_msgs/msg/Int32 to Ignition ignition.msgs.Int32 (showing msg only once per type) [robot_state_publisher-15] The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [robot_state_publisher-15] Link bump_front_center had 0 children [robot_state_publisher-15] Link bump_front_left had 0 children [robot_state_publisher-15] Link bump_front_right had 0 children [robot_state_publisher-15] Link bump_left had 0 children [robot_state_publisher-15] Link bump_right had 0 children [robot_state_publisher-15] Link button_1 had 0 children [robot_state_publisher-15] Link button_2 had 0 children [robot_state_publisher-15] Link button_power had 0 children [robot_state_publisher-15] Link cliff_front_left had 0 children [robot_state_publisher-15] Link cliff_front_right had 0 children [robot_state_publisher-15] Link cliff_side_left had 0 children [robot_state_publisher-15] Link cliff_side_right had 0 children [robot_state_publisher-15] Link front_caster_link had 0 children [robot_state_publisher-15] Link front_left_bottom_weight_block had 0 children [robot_state_publisher-15] Link front_left_top_weight_block had 0 children [robot_state_publisher-15] Link front_right_bottom_weight_block had 0 children [robot_state_publisher-15] Link front_right_top_weight_block had 0 children [robot_state_publisher-15] Link imu_link had 0 children [robot_state_publisher-15] Link ir_intensity_front_center_left had 0 children [robot_state_publisher-15] Link ir_intensity_front_center_right had 0 children [robot_state_publisher-15] Link ir_intensity_front_left had 0 children [robot_state_publisher-15] Link ir_intensity_front_right had 0 children [robot_state_publisher-15] Link ir_intensity_left had 0 children [robot_state_publisher-15] Link ir_intensity_right had 0 children [robot_state_publisher-15] Link ir_intensity_side_left had 0 children [robot_state_publisher-15] Link ir_omni had 0 children [robot_state_publisher-15] Link mouse had 0 children [robot_state_publisher-15] Link shell_link had 7 children [robot_state_publisher-15] Link front_left_tower_standoff had 0 children [robot_state_publisher-15] Link front_right_tower_standoff had 0 children [robot_state_publisher-15] Link oakd_pro_camera_bracket had 1 children [robot_state_publisher-15] Link oakd_pro_link had 4 children [robot_state_publisher-15] Link oakd_pro_imu_frame had 0 children [robot_state_publisher-15] Link oakd_pro_left_camera_frame had 1 children [robot_state_publisher-15] Link oakd_pro_left_camera_optical_frame had 0 children [robot_state_publisher-15] Link oakd_pro_rgb_camera_frame had 1 children [robot_state_publisher-15] Link oakd_pro_rgb_camera_optical_frame had 0 children [robot_state_publisher-15] Link oakd_pro_right_camera_frame had 1 children [robot_state_publisher-15] Link oakd_pro_right_camera_optical_frame had 0 children [robot_state_publisher-15] Link rear_left_tower_standoff had 0 children [robot_state_publisher-15] Link rear_right_tower_standoff had 0 children [robot_state_publisher-15] Link rplidar_link had 0 children [robot_state_publisher-15] Link tower_sensor_plate had 0 children [robot_state_publisher-15] Link wheel_drop_left had 1 children [robot_state_publisher-15] Link left_wheel had 0 children [robot_state_publisher-15] Link wheel_drop_right had 1 children [robot_state_publisher-15] Link right_wheel had 0 children [robot_state_publisher-15] [INFO] [1709846053.996991890] [robot_state_publisher]: got segment base_link [robot_state_publisher-15] [INFO] [1709846053.997099311] [robot_state_publisher]: got segment bump_front_center [robot_state_publisher-15] [INFO] [1709846053.997116074] [robot_state_publisher]: got segment bump_front_left [robot_state_publisher-15] [INFO] [1709846053.997131720] [robot_state_publisher]: got segment bump_front_right [robot_state_publisher-15] [INFO] [1709846053.997146108] [robot_state_publisher]: got segment bump_left [robot_state_publisher-15] [INFO] [1709846053.997158959] [robot_state_publisher]: got segment bump_right [robot_state_publisher-15] [INFO] [1709846053.997173277] [robot_state_publisher]: got segment button_1 [robot_state_publisher-15] [INFO] [1709846053.997186618] [robot_state_publisher]: got segment button_2 [robot_state_publisher-15] [INFO] [1709846053.997204288] [robot_state_publisher]: got segment button_power [robot_state_publisher-15] [INFO] [1709846053.997217559] [robot_state_publisher]: got segment cliff_front_left [robot_state_publisher-15] [INFO] [1709846053.997232855] [robot_state_publisher]: got segment cliff_front_right [robot_state_publisher-15] [INFO] [1709846053.997247662] [robot_state_publisher]: got segment cliff_side_left [robot_state_publisher-15] [INFO] [1709846053.997260514] [robot_state_publisher]: got segment cliff_side_right [robot_state_publisher-15] [INFO] [1709846053.997275391] [robot_state_publisher]: got segment front_caster_link [robot_state_publisher-15] [INFO] [1709846053.997289080] [robot_state_publisher]: got segment front_left_bottom_weight_block [robot_state_publisher-15] [INFO] [1709846053.997303538] [robot_state_publisher]: got segment front_left_top_weight_block [robot_state_publisher-15] [INFO] [1709846053.997318136] [robot_state_publisher]: got segment front_left_tower_standoff [robot_state_publisher-15] [INFO] [1709846053.997332873] [robot_state_publisher]: got segment front_right_bottom_weight_block [robot_state_publisher-15] [INFO] [1709846053.997347471] [robot_state_publisher]: got segment front_right_top_weight_block [robot_state_publisher-15] [INFO] [1709846053.997360741] [robot_state_publisher]: got segment front_right_tower_standoff [robot_state_publisher-15] [INFO] [1709846053.997374640] [robot_state_publisher]: got segment imu_link [robot_state_publisher-15] [INFO] [1709846053.997388889] [robot_state_publisher]: got segment ir_intensity_front_center_left [robot_state_publisher-15] [INFO] [1709846053.997401880] [robot_state_publisher]: got segment ir_intensity_front_center_right [robot_state_publisher-15] [INFO] [1709846053.997415151] [robot_state_publisher]: got segment ir_intensity_front_left [robot_state_publisher-15] [INFO] [1709846053.997432402] [robot_state_publisher]: got segment ir_intensity_front_right [robot_state_publisher-15] [INFO] [1709846053.997445673] [robot_state_publisher]: got segment ir_intensity_left [robot_state_publisher-15] [INFO] [1709846053.997460550] [robot_state_publisher]: got segment ir_intensity_right [robot_state_publisher-15] [INFO] [1709846053.997475706] [robot_state_publisher]: got segment ir_intensity_side_left [robot_state_publisher-15] [INFO] [1709846053.997489535] [robot_state_publisher]: got segment ir_omni [robot_state_publisher-15] [INFO] [1709846053.997502457] [robot_state_publisher]: got segment left_wheel [robot_state_publisher-15] [INFO] [1709846053.997516216] [robot_state_publisher]: got segment mouse [robot_state_publisher-15] [INFO] [1709846053.997530674] [robot_state_publisher]: got segment oakd_pro_camera_bracket [robot_state_publisher-15] [INFO] [1709846053.997545342] [robot_state_publisher]: got segment oakd_pro_imu_frame [robot_state_publisher-15] [INFO] [1709846053.997561196] [robot_state_publisher]: got segment oakd_pro_left_camera_frame [robot_state_publisher-15] [INFO] [1709846053.997573419] [robot_state_publisher]: got segment oakd_pro_left_camera_optical_frame [robot_state_publisher-15] [INFO] [1709846053.997587388] [robot_state_publisher]: got segment oakd_pro_link [robot_state_publisher-15] [INFO] [1709846053.997601567] [robot_state_publisher]: got segment oakd_pro_rgb_camera_frame [robot_state_publisher-15] [INFO] [1709846053.997614768] [robot_state_publisher]: got segment oakd_pro_rgb_camera_optical_frame [robot_state_publisher-15] [INFO] [1709846053.997628737] [robot_state_publisher]: got segment oakd_pro_right_camera_frame [robot_state_publisher-15] [INFO] [1709846053.997642007] [robot_state_publisher]: got segment oakd_pro_right_camera_optical_frame [robot_state_publisher-15] [INFO] [1709846053.997656395] [robot_state_publisher]: got segment rear_left_tower_standoff [robot_state_publisher-15] [INFO] [1709846053.997670155] [robot_state_publisher]: got segment rear_right_tower_standoff [robot_state_publisher-15] [INFO] [1709846053.997684473] [robot_state_publisher]: got segment right_wheel [robot_state_publisher-15] [INFO] [1709846053.997698302] [robot_state_publisher]: got segment rplidar_link [robot_state_publisher-15] [INFO] [1709846053.997711643] [robot_state_publisher]: got segment shell_link [robot_state_publisher-15] [INFO] [1709846053.997726450] [robot_state_publisher]: got segment tower_sensor_plate [robot_state_publisher-15] [INFO] [1709846053.997739720] [robot_state_publisher]: got segment wheel_drop_left [robot_state_publisher-15] [INFO] [1709846053.997753200] [robot_state_publisher]: got segment wheel_drop_right [robot_state_publisher-16] The root link std_dock_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [robot_state_publisher-16] Link green_buoy_link had 0 children [robot_state_publisher-16] Link halo_link had 0 children [robot_state_publisher-16] Link red_buoy_link had 0 children [robot_state_publisher-16] Link yellow_buoy_link had 0 children [robot_state_publisher-16] [INFO] [1709846054.034438164] [dock_state_publisher]: got segment green_buoy_link [robot_state_publisher-16] [INFO] [1709846054.034721735] [dock_state_publisher]: got segment halo_link [robot_state_publisher-16] [INFO] [1709846054.034788507] [dock_state_publisher]: got segment red_buoy_link [robot_state_publisher-16] [INFO] [1709846054.034805828] [dock_state_publisher]: got segment std_dock_link [robot_state_publisher-16] [INFO] [1709846054.034820426] [dock_state_publisher]: got segment yellow_buoy_link [static_transform_publisher-17] [INFO] [1709846053.897343406] [tf_odom_std_dock_link_publisher]: Spinning until killed publishing transform from 'odom' to 'std_dock_link' [create-18] [INFO] [1709846054.542117296] [ros_ign_gazebo]: Requesting list of world names. [hazards_vector_publisher-21] [INFO] [1709846054.419288107] [hazards_vector_publisher]: Advertised topic: /hazard_detection [hazards_vector_publisher-21] [INFO] [1709846054.425116043] [hazards_vector_publisher]: Subscription to topic: _internal/bumper/event [hazards_vector_publisher-21] [INFO] [1709846054.478467208] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_left/event [hazards_vector_publisher-21] [INFO] [1709846054.481857763] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_front_right/event [hazards_vector_publisher-21] [INFO] [1709846054.486623217] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_left/event [hazards_vector_publisher-21] [INFO] [1709846054.495017747] [hazards_vector_publisher]: Subscription to topic: _internal/cliff_side_right/event [hazards_vector_publisher-21] [INFO] [1709846054.502735129] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/left_wheel/event [hazards_vector_publisher-21] [INFO] [1709846054.506517305] [hazards_vector_publisher]: Subscription to topic: _internal/wheel_drop/right_wheel/event [hazards_vector_publisher-21] [INFO] [1709846054.521096818] [hazards_vector_publisher]: Subscription to topic: _internal/backup_limit [ir_intensity_vector_publisher-22] [INFO] [1709846054.109014802] [ir_intensity_vector_publisher]: Advertised topic: /ir_intensity [ir_intensity_vector_publisher-22] [INFO] [1709846054.120839559] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_left [ir_intensity_vector_publisher-22] [INFO] [1709846054.121062854] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_center_right [ir_intensity_vector_publisher-22] [INFO] [1709846054.121206315] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_left [ir_intensity_vector_publisher-22] [INFO] [1709846054.121871309] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_front_right [ir_intensity_vector_publisher-22] [INFO] [1709846054.122035445] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_left [ir_intensity_vector_publisher-22] [INFO] [1709846054.122175345] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_right [ir_intensity_vector_publisher-22] [INFO] [1709846054.122322857] [ir_intensity_vector_publisher]: Subscription to topic: _internal/ir_intensity_side_left [motion_control-23] [INFO] [1709846054.438361447] [motion_control]: Enabling REFLEX_BUMP [motion_control-23] [INFO] [1709846054.439068278] [motion_control]: Enabling REFLEX_CLIFF [motion_control-23] [INFO] [1709846054.450217564] [motion_control]: Enabling REFLEX_STUCK [motion_control-23] [INFO] [1709846054.451290313] [motion_control]: Enabling REFLEX_WHEEL_DROP [wheel_status_publisher-24] [INFO] [1709846054.253754784] [wheel_status_publisher]: Advertised topic: /wheel_vels [wheel_status_publisher-24] [INFO] [1709846054.254036329] [wheel_status_publisher]: Advertised topic: /wheel_ticks [mock_publisher-25] [INFO] [1709846054.161949063] [mock_publisher]: Advertised mocked topic: /slip_status [robot_state-26] [INFO] [1709846054.514471392] [robot_state]: Advertised topic: /battery_state [robot_state-26] [INFO] [1709846054.515890153] [robot_state]: Subscription to topic: /dock [robot_state-26] [INFO] [1709846054.516125182] [robot_state]: Advertised topic: /stop_status [robot_state-26] [INFO] [1709846054.538111686] [robot_state]: Subscription to topic: /odom [kidnap_estimator_publisher-27] [INFO] [1709846054.720280759] [kidnap_estimator_publisher]: Advertised topic: /kidnap_status [kidnap_estimator_publisher-27] [INFO] [1709846054.808510766] [kidnap_estimator_publisher]: Subscription to topic: /hazard_detection [ui_mgr-28] [INFO] [1709846054.435703286] [ui_mgr]: Subscription to topic: /cmd_lightring [ui_mgr-28] [INFO] [1709846054.438078505] [ui_mgr]: Subscription to topic: /cmd_audio [turtlebot4_node-32] [INFO] [1709846054.595959122] [turtlebot4_node]: Init Turtlebot4 Node Main [turtlebot4_node-32] [INFO] [1709846054.614528111] [turtlebot4_node]: Buttons Init [turtlebot4_node-32] [INFO] [1709846054.615955952] [turtlebot4_node]: Init Display [turtlebot4_node-32] [INFO] [1709846054.617583690] [turtlebot4_node]: Leds Init [turtlebot4_node-32] [INFO] [1709846054.624516434] [turtlebot4_node]: Turtlebot4 standard running. [create-19] [INFO] [1709846054.835468138] [ros_ign_gazebo]: Requesting list of world names. [static_transform_publisher-35] [INFO] [1709846054.959956983] [rplidar_stf]: Spinning until killed publishing transform from 'rplidar_link' to 'turtlebot4/rplidar_link/rplidar' [static_transform_publisher-36] [INFO] [1709846055.093049606] [camera_stf]: Spinning until killed publishing transform from 'oakd_pro_rgb_camera_optical_frame' to 'turtlebot4/oakd_pro_rgb_camera_frame/rgbd_camera' [parameter_bridge-10] [INFO] [1709846055.226513800] [turtlebot4.hmi_display_msg_bridge]: Passing message from ROS std_msgs/msg/String to Ignition ignition.msgs.StringMsg (showing msg only once per type) [parameter_bridge-10] [INFO] [1709846055.226789479] [turtlebot4.hmi_display_msg_bridge]: Passing message from ROS std_msgs/msg/Int32 to Ignition ignition.msgs.Int32 (showing msg only once per type) [ign gazebo-1] [Wrn] [ign.cc:86] Fuel world download failed because Fetch failed. Other errors [ign gazebo-1] Unable to find or download file [ERROR] [ign gazebo-1]: process has died [pid 178048, exit code 255, cmd 'ign gazebo mi_mundo.sdf -v 4 --gui-config /opt/ros/galactic/share/turtlebot4_ignition_bringup/gui/standard/gui.config']. [spawner-20] [INFO] [1709846055.465682719] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-20] [INFO] [1709846057.478268602] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-20] [INFO] [1709846059.490433451] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [create-18] [INFO] [1709846059.543992171] [ros_ign_gazebo]: Requesting list of world names. [create-19] [INFO] [1709846059.836461021] [ros_ign_gazebo]: Requesting list of world names. [spawner-20] [INFO] [1709846061.502772696] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
@hilary-luo check please
Please fill in the remaining requested information at the top of the ticket (model, ROS distro, Networking Configuration, OS, Built from source or installed?, Package version (with the package number of what you installed) and Type of issue). This information is important for us to be able to help you.
Without that information listed above, the best suggestions I have for right now:
Do you get the same issue if you use the single command launch?
ros2 launch turtlebot4_ignition_bringup ignition.launch.py slam:=sync nav2:=true rviz:=true
This command will launch the simulation, slam, nav2 and rviz all at once.
If you are still having the same issue after doing this, can you confirm: a) whether you can see and echo the topics from the simulation? and b) what ROS related settings you are sourcing in your terminal (likely put in your .bashrc when you set up your networking)?
a) If you can see and echo the topics of the simulation? I have done it, and yes, I can see. But I'm not sure if using /scan shows the values that should appear. I'll show you a screenshot, please check it out as I'm not sure. I don't know how to check the package version.
Well, I haven't done any network configuration; I'm just using simulation as I don't have a physical robot. Here is my .bashrc file:
case $- in i) ;; *) return;; esac
HISTCONTROL=ignoreboth
shopt -s histappend
HISTSIZE=1000 HISTFILESIZE=2000
shopt -s checkwinsize
[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)"
if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then debian_chroot=$(cat /etc/debian_chroot) fi
case "$TERM" in xterm-color|*-256color) color_prompt=yes;; esac
if [ -n "$force_color_prompt" ]; then if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then
# (ISO/IEC-6429). (Lack of such support is extremely rare, and such
# a case would tend to support setf rather than setaf.)
color_prompt=yes
else
color_prompt=
fi
fi
if [ "$color_prompt" = yes ]; then PS1='${debian_chroot:+($debian_chroot)}[\033[01;32m]\u@\h[\033[00m]:[\033[01;34m]\w[\033[00m]\$ ' else PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ ' fi unset color_prompt force_color_prompt
case "$TERM" in xterm|rxvt) PS1="[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a]$PS1" ;; *) ;; esac
if [ -x /usr/bin/dircolors ]; then test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)" alias ls='ls --color=auto'
#alias vdir='vdir --color=auto'
alias grep='grep --color=auto'
alias fgrep='fgrep --color=auto'
alias egrep='egrep --color=auto'
fi
alias ll='ls -alF' alias la='ls -A' alias l='ls -CF'
alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '\''s/^\s[0-9]+\s//;s/[;&|]\s*alert$//'\'')"'
if [ -f ~/.bash_aliases ]; then . ~/.bash_aliases fi
if ! shopt -oq posix; then if [ -f /usr/share/bash-completion/bash_completion ]; then . /usr/share/bash-completion/bash_completion elif [ -f /etc/bash_completion ]; then . /etc/bash_completion fi fi
I don't know if the configuration of the rplidar urdf.xacrp plugin is correct because I get strange values when I do ros2 topic echo /scan that I showed you in a screenshot above, can you please check it
@hilary-luo help me please
Do you have a GPU? if you do have a GPU it may not actually be being used by the simulation and that could be the causing factor. If you do have a GPU please make sure that it is being used properly. If you don't have a GPU or it is already being used properly, continue with the following:
Can you visualize the lidar rays in gazebo and confirm if you are seeing the same issue as this ticket? https://github.com/turtlebot/turtlebot4_simulator/issues/20 If you are then try the solution that was found there.
Unfortunately you are using an end of life version of ROS so it no longer receives updates. Our support abilities are limited for these older distros, I would advise that you update to Humble when you can. I believe this issue is not present in Humble.
@hilary-luo I don't have GPU
I managed to activate the mapping feature, but I can't see the rays because I don't have a GPU. Also, I can't move the TurtleBot4 much; I'm getting something about ignoring velocities in the terminal, as shown in the image. If you could help me, that would be great. @hilary-luo @roni-kreinin
@ajjaya18 Not having a GPU dopes not mean that you cannot see the rays. Not having a GPU just could mean that you may have needed to complete the steps that I linked to you in order to get the simulated lidar working properly with Galactic but it seems to be working just fine in your image. The lidar points are showing in rviz in the image you shared. If you want to visualize the rays in gazebo then you need to turn that on (vizualize lidar -> select the lidar).
That message that you are getting means that you are trying to command the robot to move while it is completing an autonomous behaviour. You need to wait until it is done the autonomous behaviour (such as undocking or backing up because it collided with something) before driving it.
@hilary-luo can you explain more about how to visualize the rays in gazebo please.
Select the options at the top right
Start typing to find visualize lidar and select it
Scroll down until you find the Visualize Lidar section. Click on the refresh button and select the correct lidar that you want to visualize from the drop down.
You should now see the rays
If you don't see the lidar, ensure that your simulation is playing (should see a pause symbol in the bottom left).
Can't put anything in this section, please look at the image.
Do you know why I'm getting this error with tf or how can I solve it? Does it have to do with the wheels or does it not affect mapping and navigation? @hilary-luo
Can't put anything in this section, please look at the image.
You need to first press the refresh button.
Do you know why I'm getting this error with tf or how can I solve it? Does it have to do with the wheels or does it not affect mapping and navigation?
If you are referring to the wheel / wheel drop tf errors in the simulation, that is fine and should not affect your mapping or navigation. I believe it is fixed in Humble.
If you are referring to the wheel / wheel drop tf errors in the simulation, that is fine and should not affect your mapping or navigation. I believe it is fixed in Humble.
ok, thanks but you know the origin of this problem? because I have been reviewing all the URDF files and they seem to be fine. @hilary-luo
Hi, @hilary-luo Are there any issues related to launching your own world?
ok, thanks but you know the origin of this problem? because I have been reviewing all the URDF files and they seem to be fine
I don't recall off the top of my head and unfortunately don't have the time to chase this down. You can try to take a look at what has changed between the version that you are using and the latest Humble version but there are likely other changes in there as well.
Are there any issues related to launching your own world?
No, you just need to follow the instructions on how to do so. There are some notes on the website in the documentation and if you look at some of the other issues I have walked people through launching their own worlds. In short, you have to install the turtlebot4_simulator package from source and place your new world beside the existing ones there. Make sure the file name matches the world name inside the file. Then you should be able to build and source it and then launch it with the name of your custom world.
Hello, I installed Humble, but now I'm getting this error when trying to simulate. I will create a new issue about this, but please help me by responding if you know the answer.
Closing this issue because discussion has shifted to the new one.
Robot Model
Standard
ROS distro
Galactic
Networking Configuration
I don't know this.
OS
^Candrius@andrius-HP-Pavilion-Laptop-15-eh0xxx:~/turtlebot4_ws$ lsb_release -a No LSB modules are available. Distributor ID: Ubuntu Description: Ubuntu 20.04.6 LTS Release: 20.04 Codename: focal
Built from source or installed?
installed
Package version
I am running the packages that come in the tutorial for ROS Galactic."
Type of issue
Can't mapping
Expected behaviour
Mapping the depot world with all the present objects, running the robot in created worlds, and having an exact simulation and mapping.
Actual behaviour
t's not possible to map in the depot world; it doesn't recognize any object and creates a completely empty map. It doesn't recognize the walls, boxes, or anything else. The ignition.launch.py file doesn't run with another world.
Error messages
To Reproduce
1.run SLAM. It is recommended to run synchronous SLAM on a remote PC to get a higher resolution map.
ros2 launch turtlebot4_navigation slam_sync.launch.py
To visualise the map, launch Rviz2 with the view_robot launch file.
ros2 launch turtlebot4_viz view_robot.launch.py
ros2 launch turtlebot4_ignition_bringup ignition.launch.py
Other notes