Closed aharshac closed 1 week ago
Full log: tb4_sim_error.log
Hi @aharshac Can you please detail the hardware specs of your PC you are running this on? It seems like the system does not have the required resources (CPU, RAM etc.) to run this simulation. Best regards, Rusty
Hello @RustyCPR
I've seen this issue on two PCs. One with 16 GB RAM, 4GB 1050Ti and another with 32 GB RAM, 4 GB P2000. Both of them were running local Fast DDS discovery servers. This problem exists with Create3 Ignition as well, but not with Gazebo Classic.
I did not see this problem when I switched to Cyclone DDS with simple discovery. I want to use Turtlebot4 sim with multiple robots for frontier exploration, and I was unable to spawn more than one robot with Cyclone.
I think this issue is caused by ros2_control https://github.com/ros-controls/ros2_control/issues/1200. There's a fix https://github.com/ros-controls/ros2_control/pull/1562, but I was unable to build the branch locally.
Here's how I source my env https://gist.github.com/aharshac/b07929459d00935bf6b0259144202e58
Thanks
@RustyCPR Can you confirm if I'm sourcing my environment properly? This is how I start the discovery serer
#!/bin/bash
source /opt/ros/humble/setup.bash
fastdds discovery -i 0 -p 11811
fastdds_super_client.xml
<?xml version="1.0" encoding="UTF-8" ?>
<dds>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<participant profile_name="super_client_profile" is_default_profile="true">
<rtps>
<builtin>
<discovery_config>
<discoveryProtocol>SUPER_CLIENT</discoveryProtocol>
<discoveryServersList>
<RemoteServer prefix="44.53.00.5f.45.50.52.4f.53.49.4d.41">
<metatrafficUnicastLocatorList>
<locator>
<udpv4>
<address>127.0.0.1</address>
<port>11811</port>
</udpv4>
</locator>
</metatrafficUnicastLocatorList>
</RemoteServer>
</discoveryServersList>
</discovery_config>
</builtin>
</rtps>
</participant>
</profiles>
</dds>
Hello @RustyCPR
I've seen this issue on two PCs. One with 16 GB RAM, 4GB 1050Ti and another with 32 GB RAM, 4 GB P2000. Both of them were running local Fast DDS discovery servers. This problem exists with Create3 Ignition as well, but not with Gazebo Classic.
I did not see this problem when I switched to Cyclone DDS with simple discovery. I want to use Turtlebot4 sim with multiple robots for frontier exploration, and I was unable to spawn more than one robot with Cyclone.
I think this issue is caused by _ros2control ros-controls/ros2_control#1200. There's a fix ros-controls/ros2_control#1562, but I was unable to build the branch locally.
Here's how I source my env https://gist.github.com/aharshac/b07929459d00935bf6b0259144202e58
Thanks
We have fixed the issues in all supported distros. Currently in source, but feel free to test and give us feedback!
Hi @aharshac
Please try removing/unsetting the FASTRTPS_DEFAULT_PROFILES_FILE from your sourcing script. That profile is just pointing it towards the server you started and setting it as super client which is a duplication of the other environment variables that you have set.
@RustyCPR The simulator works as expected after https://github.com/ros-controls/ros2_control/pull/1562 was merged. Thanks @destogl for the fix.
Robot Model
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ROS distro
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Networking Configuration
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OS
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Built from source or installed?
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Package version
Installed by running
sudo apt install ros-humble-turtlebot4-simulator
which also installed the following dependencies:Ended up afterwards with:![Turtlebot4 sim dependencies](https://github.com/user-attachments/assets/dedf0ef2-c96b-4b76-a60f-8272a7afcdc7)
Type of issue
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Expected behaviour
The simulator is started with
ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py
.Actual behaviour
The robot oscillates in place on the dock for a moment after pressing the start simulation button.
Undock function does not work:
When the back button is pressed on the teleop widget:
There's a different error when rviz arg is set true. Maybe I'll open another ticket.
Error messages
To Reproduce
ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py
Other notes
No response