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turtlebot / turtlebot4_simulator

TurtleBot 4 Simulator packages
Apache License 2.0
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Support for humble? #32

Closed TheConstructAi closed 1 year ago

TheConstructAi commented 1 year ago

Is there any way to make this work in humble?

roni-kreinin commented 1 year ago

We are working on it but there are some dependencies issues currently. See https://github.com/iRobotEducation/create3_sim/issues/195

MatteoCarlone commented 1 year ago

Do you have any news about humble simulation release? It would be really nice to try namespacing in sim :)

roni-kreinin commented 1 year ago

@MatteoCarlone Working on some final bug fixes before releasing. You can build it from source using the humble branch right now if you want.

ruffsl commented 1 year ago

Are the packages still named using the ignition convention, or will they be renamed to gazebo given the rebranding migration?

https://gazebosim.org/docs/garden/migration_from_ignition

roni-kreinin commented 1 year ago

@ruffsl We are keeping ign for now as fortress supports both. Under the hood most of the ign packages just run the equivalent gz package at this point.

euivmar commented 1 year ago

Do you have any news about the release date of the humble simulator? Do you know if the humble branch to install from source is stable or in beta version?

roni-kreinin commented 1 year ago

@euivmar Once https://github.com/iRobotEducation/create3_sim/pull/207 is merged, we will merge our multi-robot branches and do a release.

In the meantime you can build it from source and it should work fine. If you want multiple robot support you can use these branches:

euivmar commented 1 year ago

@roni-kreinin Thank you for your quick and complete answer. I hope your pull request can be reviewed and approved soon.

Thanks again for your work.

Fran-FC commented 1 year ago

I tried to work with the simulator building it from source as you mentioned before

@MatteoCarlone Working on some final bug fixes before releasing. You can build it from source using the humble branch right now if you want.

But I got these errors when launching the simulation. 

[spawner-36] [INFO] [1683712349.606353700] [spawner_diffdrive_controller]: Waiting for '/controller_manager' node to exist
[spawner-36] [INFO] [1683712351.635023425] [spawner_diffdrive_controller]: Waiting for '/controller_manager' node to exist
[spawner-36] [ERROR] [1683712353.668267713] [spawner_diffdrive_controller]: Controller manager not available
[ERROR] [spawner-36]: process has died [pid 10210, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner diffdrive_controller -c /controller_manager --ros-args --params-file /opt/ros/humble/share/irobot_create_control/config/control.yaml'].

It also shows this error log: 

[ruby $(which ign) gazebo-1] [Err] [SystemLoader.cc:78] Failed to load system plugin [libign_ros2_control-system.so] : couldn't find shared library.

Gazebo starts and the model of the robot appears but the controller_manager node does not seem to work... Any suggestions? Thanks!

Fran-FC commented 1 year ago

Hello I just updated and compiled the latest changes in the humble branch. But I can't make it work.

After launching with ros2 launch turtlebot4_ignition_bringup ignition.launch.py I get the following output:

[INFO] [launch]: All log files can be found below /home/fran/.ros/log/2023-05-17-12-40-25-355664-fran-msi-20763
[INFO] [launch]: Default logging verbosity is set to INFO
ign_args is deprecated, migrate to gz_args!
[INFO] [ruby $(which ign) gazebo-1]: process started with pid [20764]
[INFO] [parameter_bridge-2]: process started with pid [20766]
[parameter_bridge-2] [INFO] [1684320025.540771345] [clock_bridge]: Creating GZ->ROS Bridge: [/clock (ignition.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Warehouse to https://fuel.gazebosim.org/1.0/OpenRobotics/models/Warehouse
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/pallet_box_mobile to https://fuel.gazebosim.org/1.0/MovAi/models/pallet_box_mobile
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf_big to https://fuel.gazebosim.org/1.0/MovAi/models/shelf_big
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf_big to https://fuel.gazebosim.org/1.0/MovAi/models/shelf_big
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf_big to https://fuel.gazebosim.org/1.0/MovAi/models/shelf_big
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf to https://fuel.gazebosim.org/1.0/MovAi/models/shelf
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf to https://fuel.gazebosim.org/1.0/MovAi/models/shelf
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf to https://fuel.gazebosim.org/1.0/MovAi/models/shelf
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:112:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:105:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/StyleDialog.qml:98:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:qml/Main.qml:102:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] qrc:/qml/PluginMenu.qml:27:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf to https://fuel.gazebosim.org/1.0/MovAi/models/shelf
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:241:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf to https://fuel.gazebosim.org/1.0/MovAi/models/shelf
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf_big to https://fuel.gazebosim.org/1.0/MovAi/models/shelf_big
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf_big to https://fuel.gazebosim.org/1.0/MovAi/models/shelf_big
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf to https://fuel.gazebosim.org/1.0/MovAi/models/shelf
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf to https://fuel.gazebosim.org/1.0/MovAi/models/shelf
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/shelf to https://fuel.gazebosim.org/1.0/MovAi/models/shelf
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Chair to https://fuel.gazebosim.org/1.0/OpenRobotics/models/Chair
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Chair to https://fuel.gazebosim.org/1.0/OpenRobotics/models/Chair
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/foldable_chair to https://fuel.gazebosim.org/1.0/OpenRobotics/models/foldable_chair
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/foldable_chair to https://fuel.gazebosim.org/1.0/OpenRobotics/models/foldable_chair
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Table to https://fuel.gazebosim.org/1.0/OpenRobotics/models/Table
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Artifact Proximity Detector to https://fuel.gazebosim.org/1.0/OpenRobotics/models/Artifact Proximity Detector
[ruby $(which ign) gazebo-1] [Dbg] [ign.cc:161] Subscribing to [/gazebo/starting_world].
[ruby $(which ign) gazebo-1] [Dbg] [ign.cc:163] Waiting for a world to be set from the GUI...
[ruby $(which ign) gazebo-1] [Msg] Received world [warehouse.sdf] from the GUI.
[ruby $(which ign) gazebo-1] [Dbg] [ign.cc:167] Unsubscribing from [/gazebo/starting_world].
[ruby $(which ign) gazebo-1] [Msg] Ignition Gazebo Server v6.14.0
[ruby $(which ign) gazebo-1] [Msg] Loading SDF world file[/home/fran/Coding/tb4_ws/install/turtlebot4_ignition_bringup/share/turtlebot4_ignition_bringup/worlds/warehouse.sdf].
[ruby $(which ign) gazebo-1] [Msg] Serving entity system service on [/entity/system/add]
[ruby $(which ign) gazebo-1] [Dbg] [Physics.cc:803] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-5/engine-plugins/libignition-physics-dartsim-plugin.so]
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::Physics] for entity [1]
[ruby $(which ign) gazebo-1] [Msg] Create service on [/world/warehouse/create]
[ruby $(which ign) gazebo-1] [Msg] Remove service on [/world/warehouse/remove]
[ruby $(which ign) gazebo-1] [Msg] Pose service on [/world/warehouse/set_pose]
[ruby $(which ign) gazebo-1] [Msg] Pose service on [/world/warehouse/set_pose_vector]
[ruby $(which ign) gazebo-1] [Msg] Light configuration service on [/world/warehouse/light_config]
[ruby $(which ign) gazebo-1] [Msg] Physics service on [/world/warehouse/set_physics]
[ruby $(which ign) gazebo-1] [Msg] SphericalCoordinates service on [/world/warehouse/set_spherical_coordinates]
[ruby $(which ign) gazebo-1] [Msg] Enable collision service on [/world/warehouse/enable_collision]
[ruby $(which ign) gazebo-1] [Msg] Disable collision service on [/world/warehouse/disable_collision]
[ruby $(which ign) gazebo-1] [Msg] Material service on [/world/warehouse/visual_config]
[ruby $(which ign) gazebo-1] [Msg] Material service on [/world/warehouse/wheel_slip]
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1]
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::PosePublisher] for entity [12]
[ruby $(which ign) gazebo-1] [Msg] PerformerDetector publishing messages on [/subt_performer_detector]
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::PerformerDetector] for entity [141]
[ruby $(which ign) gazebo-1] [Dbg] [Thermal.cc:112] Thermal plugin, heat signature: using a minimum temperature of 288.15 kelvin, and a max temperature of 305 kelvin.
[ruby $(which ign) gazebo-1] [Dbg] [SystemManager.cc:70] Loaded system [ignition::gazebo::systems::Thermal] for entity [139]
[ruby $(which ign) gazebo-1] [Msg] Loaded level [3]
[ruby $(which ign) gazebo-1] [Msg] Serving world controls on [/world/warehouse/control], [/world/warehouse/control/state] and [/world/warehouse/playback/control]
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/openrobotics/models/chair/2/files/meshes/Chair.obj to https://fuel.gazebosim.org/1.0/openrobotics/models/chair/2/files/meshes/Chair.obj
[ruby $(which ign) gazebo-1] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/openrobotics/models/chair/2/files/meshes/Chair.obj to https://fuel.gazebosim.org/1.0/openrobotics/models/chair/2/files/meshes/Chair.obj
[ruby $(which ign) gazebo-1] [Wrn] [OBJLoader.cc:91] Both `d` and `Tr` parameters defined for "Chair". Use the value of `d` for dissolve (line 8 in .mtl.)
[ruby $(which ign) gazebo-1] 
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Scene3D.cc:2941] The GzScene3D plugin is deprecated on v6 and will be removed on v7. Use MinimalScene together with other plugins as needed.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/GzScene3D/GzScene3D.qml:108:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/GzScene3D/GzScene3D.qml:63:5: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[ruby $(which ign) gazebo-1] [Wrn] [Model.hh:69] Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[ruby $(which ign) gazebo-1] Skipping serialization / deserialization for models with //pose/@relative_to attribute.Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[ruby $(which ign) gazebo-1] with //pose/@relative_to attribute.Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[ruby $(which ign) gazebo-1] with //pose/@relative_to attribute.
[ruby $(which ign) gazebo-1] Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[ruby $(which ign) gazebo-1] [Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v125WorldE], which doesn't have `operator<<`. Component will not be serialized.
[ruby $(which ign) gazebo-1] Skipping serialization / deserialization for models with //pose/@relative_to attribute.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldControl/WorldControl.qml:30:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [Msg] [Msg] Ignition Gazebo GUI    v6.14.0
[ruby $(which ign) gazebo-1] [Dbg] [Gui.cc:253] Waiting for subscribers to [/gazebo/starting_world]...
[ruby $(which ign) gazebo-1] [Dbg] [Application.cc:92] Initializing application.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:555] Create main window
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Gui.cc:333] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [Requesting initial state from [[GUI] [Dbg] [PathManager.cc:55] Received resource paths.
[ruby $(which ign) gazebo-1] /world/warehouse/state]...
[ruby $(which ign) gazebo-1] 
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loading config [/home/fran/Coding/tb4_ws/install/turtlebot4_ignition_bringup/share/turtlebot4_ignition_bringup/gui/lite/gui.config]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [GzScene3D]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Video recorder stats topic advertised on [/gui/record_video/stats]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Transform mode service on [/gui/transform_mode]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Record video service on [/gui/record_video]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Move to service on [/gui/move_to]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Follow service on [/gui/follow]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Follow offset service on [/gui/follow/offset]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View angle service on [/gui/view_angle]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View as transparent service on [/gui/view/transparent]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View center of mass service on [/gui/view/com]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View inertia service on [/gui/view/inertia]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View joints service on [/gui/view/joints]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View wireframes service on [/gui/view/wireframes]
[ruby $(which ign) gazebo-1] [GUI] [Msg] View collisions service on [/gui/view/collisions]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Added plugin [3D View] to main window
[ruby $(which ign) gazebo-1] [GUI] [Msg] Loaded plugin [GzScene3D] from path [/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins/gui/libGzScene3D.so]
[ruby $(which ign) gazebo-1] [GUI] [Dbg] [Application.cc:426] Loading plugin [WorldControl]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Using world control service [/world/warehouse/control]
[ruby $(which ign) gazebo-1] [GUI] [Msg] Listening to stats on [/world/warehouse/stats]
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:104:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:99:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:94:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/TransformControl/TransformControl.qml:89:3: QML Connections: Implicitly defined onFoo properties in Connections are deprecated. Use this syntax instead: function onFoo(<arguments>) { ... }
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] QObject::connect: No such signal ignition::gui::Create3Hmi::AddMsg(QString)
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Component.hh:189] Trying to deserialize component with data type [N3sdf3v125WorldE], which doesn't have `operator>>`. Component will not be deserialized.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Model.hh:98] Unable to deserialize sdf::Model
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [Application.cc:797] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[ruby $(which ign) gazebo-1] libEGL warning: egl: failed to create dri2 screen
[ruby $(which ign) gazebo-1] libEGL warning: egl: failed to create dri2 screen
[ruby $(which ign) gazebo-1] [GUI] [Err] [Ogre2Camera.cc:390] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored by ogre2 backend.
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/pallet/tip/files/meshes/pallet.dae to https://fuel.gazebosim.org/1.0/MovAi/models/pallet/tip/files/meshes/pallet.dae
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/MovAi/models/pallet/tip/files/meshes/pallet.dae to https://fuel.gazebosim.org/1.0/MovAi/models/pallet/tip/files/meshes/pallet.dae
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/movai/models/pallet_box_mobile/3/files/meshes/boxes.dae to https://fuel.gazebosim.org/1.0/movai/models/pallet_box_mobile/3/files/meshes/boxes.dae
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/movai/models/pallet_box_mobile/3/files/meshes/boxes.dae to https://fuel.gazebosim.org/1.0/movai/models/pallet_box_mobile/3/files/meshes/boxes.dae
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/openrobotics/models/chair/2/files/meshes/Chair.obj to https://fuel.gazebosim.org/1.0/openrobotics/models/chair/2/files/meshes/Chair.obj
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/openrobotics/models/chair/2/files/meshes/Chair.obj to https://fuel.gazebosim.org/1.0/openrobotics/models/chair/2/files/meshes/Chair.obj
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [OBJLoader.cc:91] Both `d` and `Tr` parameters defined for "Chair". Use the value of `d` for dissolve (line 8 in .mtl.)
[ruby $(which ign) gazebo-1] 
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/openrobotics/models/table/3/files/Table_Diffuse.jpg to https://fuel.gazebosim.org/1.0/openrobotics/models/table/3/files/Table_Diffuse.jpg
[ruby $(which ign) gazebo-1] [GUI] [Wrn] [FuelClient.cc:1964] The fuel.ignitionrobotics.org URL is deprecrated. Pleasse change https://fuel.ignitionrobotics.org/1.0/openrobotics/models/table/3/files/Table_Diffuse.jpg to https://fuel.gazebosim.org/1.0/openrobotics/models/table/3/files/Table_Diffuse.jpg

I also can't view any topics published and the robot does not appear in the world.

image

roni-kreinin commented 1 year ago

@Fran-FC The debian for the simulator is now released on the ros2 testing server. Try installing it from there.

To use the testing server, edit /etc/apt/sources.list.d/ros2.list and use http://packages.ros.org/ros2-testing/ubuntu as the package server. Then call sudo apt update && sudo apt install ros-humble-turtlebot4-simulator to install it.

tommy4111 commented 1 year ago

Anyone figured out how to spawn turtlebot? I'm using testing server.

Fran-FC commented 1 year ago

@Fran-FC The debian for the simulator is now released on the ros2 testing server. Try installing it from there.

To use the testing server, edit /etc/apt/sources.list.d/ros2.list and use http://packages.ros.org/ros2-testing/ubuntu as the package server. Then call sudo apt update && sudo apt install ros-humble-turtlebot4-simulator to install it.

Thanks I installed the package via apt but the exact same errors happen, the robot does not spawn and I get the same output in the terminal.

roni-kreinin commented 1 year ago

@Fran-FC I just noticed you are using the ignition.launch.py launch file. That one just launches the sim and spawns the world. Try using ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py

@tommy4111 ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py

roni-kreinin commented 1 year ago

Documentation will be up soon for the sim.

Fran-FC commented 1 year ago

Thanks, everything is correct, but the simulation performance is very poor. I don't know if it is due to my PC specs, these are the following:

The simulation goes to 8% of the real time.

roni-kreinin commented 1 year ago

@Fran-FC The simulation is likely using your integrated graphics rather than your GTX 1050. Make sure you have nvidia drivers installed and the GTX 1050 selected as your GPU.

zenas91 commented 1 year ago

@roni-kreinin I am having similar issue. Whenever I run turtlebot4_ignition.launch.py, the world starts but the robot is not spawn. Additionally, I get this error [ERROR] [launch]: Caught exception in launch (see debug for traceback): No module named 'irobot_create_common_bringup'. Running ignition.launch.py gives similar respond as this

Fran-FC commented 1 year ago

@roni-kreinin I am having similar issue. Whenever I run turtlebot4_ignition.launch.py, the world starts but the robot is not spawn. Additionally, I get this error [ERROR] [launch]: Caught exception in launch (see debug for traceback): No module named 'irobot_create_common_bringup'. Running ignition.launch.py gives similar respond as this

I solved the problem of the module not found by compiling the create3_sim repo, it seems that the installation of the turtlebot4_sim package does not install this dependency.

zenas91 commented 1 year ago

@roni-kreinin I am having similar issue. Whenever I run turtlebot4_ignition.launch.py, the world starts but the robot is not spawn. Additionally, I get this error [ERROR] [launch]: Caught exception in launch (see debug for traceback): No module named 'irobot_create_common_bringup'. Running ignition.launch.py gives similar respond as this

I solved the problem of the module not found by compiling the create3_sim repo, it seems that the installation of the turtlebot4_sim package does not install this dependency.

@Fran-FC Did you do that in the same workspace or you created a separate workspace for create3?

Fran-FC commented 1 year ago

@roni-kreinin I am having similar issue. Whenever I run turtlebot4_ignition.launch.py, the world starts but the robot is not spawn. Additionally, I get this error [ERROR] [launch]: Caught exception in launch (see debug for traceback): No module named 'irobot_create_common_bringup'. Running ignition.launch.py gives similar respond as this

I solved the problem of the module not found by compiling the create3_sim repo, it seems that the installation of the turtlebot4_sim package does not install this dependency.

@Fran-FC Did you do that in the same workspace or you created a separate workspace for create3?

I compiled it all on the same ws

zenas91 commented 1 year ago

@roni-kreinin I am having similar issue. Whenever I run turtlebot4_ignition.launch.py, the world starts but the robot is not spawn. Additionally, I get this error [ERROR] [launch]: Caught exception in launch (see debug for traceback): No module named 'irobot_create_common_bringup'. Running ignition.launch.py gives similar respond as this

I solved the problem of the module not found by compiling the create3_sim repo, it seems that the installation of the turtlebot4_sim package does not install this dependency.

@Fran-FC Did you do that in the same workspace or you created a separate workspace for create3?

I compiled it all on the same ws

Thanks

Fran-FC commented 1 year ago

The base simulation seems to work fine, but the problem comes when launching SLAM. It seems to be the same problem as referenced in this issue https://github.com/turtlebot/turtlebot4/issues/134#issuecomment-1531270408

The output of the SLAM is the following:

[sync_slam_toolbox_node-1] [INFO] [1685024243.971329229] [slam_toolbox]: Message Filter dropping message: frame 'turtlebot4/rplidar_link/rplidar' at time 16.770 for reason 'discarding message because the queue is full'

The TF tree seems fine though:

frames_2023-05-25_16.23.30.pdf

Any suggestions?

hilary-luo commented 1 year ago

Closing due to inactivity and because Humble is released.