Gazebo Classic Simulation humble #78

olmerg · 2023-06-30T01:30:52Z

This is a new feature for ros2 which let to spawn in a gazebo world an andino robot
In this PR we are not going to support multiple robots, just one.

🎉 New feature

Fixes #47

Summary

To reproduce

colcon build --symlink-install --packages-skip andino_base
. /usr/share/gazebo/setup.bash
. install/setup.bash
ros2 launch andino_gazebo andino_one_robot.launch.py

TODO:

Add camera sensor
Add ros control support
documentation

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
Consider updating Python bindings (if it affects the public API)

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

docker/Dockerfile

francocipollone

Thanks @olmerg for pushing this! I left some comments!

andino_description/urdf/include/andino_caster_macro.urdf.xacro

francocipollone · 2023-06-30T13:30:00Z

Also @olmerg , mind correctly signing the commits:

gonzodepedro · 2023-06-30T19:23:54Z

Suggestion, If you add to the instructions:

rosdep install --from-paths src --ignore-src -i -y

Then, you can remove the --packages-skip andino_base in the call to colcon

olmerg · 2023-06-30T19:31:49Z

Suggestion, If you add to the instructions:

rosdep install --from-paths src --ignore-src -i -y

Then, you can remove the --packages-skip andino_base in the call to colcon

that great, that also eliminate the requirment to modify the dockerfile

andino_gazebo/urdf/andino.gazebo.xacro

andino_gazebo/launch/andino_with_ros_control.launch.py

agalbachicar

One extra comment, rviz complains with the following:

[rviz2-5] Warning: Invalid frame ID "right_wheel" passed to canTransform argument source_frame - frame does not exist
[rviz2-5]          at line 93 in ./src/buffer_core.cpp
[rviz2-5] Warning: Invalid frame ID "left_wheel" passed to canTransform argument source_frame - frame does not exist

And you can see the following:

andino_gazebo/CMakeLists.txt

andino_gazebo/README.MD

andino_description/urdf/andino.urdf.xacro

francocipollone

Good job @olmerg ! 🙌 It is looking good, I left some comments!

Three extra comments:
- Check the DCO that is failing.
- Update branch to bring last commits form humble branch. (it shouldn't collide but improve robot description due to camera mesh being added)
- Add andino_gazebo to the current CI workflow.

andino_description/urdf/andino.urdf.xacro

andino_description/urdf/include/common_sensors.urdf.xacro

francocipollone · 2023-07-04T17:41:07Z

andino_gazebo/CMakeLists.txt

+)
+
+
+ament_package()


nit: missing empty line in the end of the file

nit: I don't think it is resolved

andino_gazebo/README.MD

andino_gazebo/launch/andino_with_ros_control.launch.py

andino_gazebo/urdf/andino.gazebo.xacro

andino_gazebo/launch/andino_one_robot.launch.py

andino_gazebo/launch/spawn_robot.launch.py

Signed-off-by: olmerg <olmerg@gmail.com>

olmerg · 2023-07-04T20:13:56Z

Some consideration has been made for the last commit:

Default test has been added through the cmakelist.txt. An issue has been found to detect correctly the license in the python files which has been solved like described in ament_lint , nav2 example.
The issue of the caster wheel has not been solved PR 79
The python files has been formatted with black
ros2 control support is not part of this PR.

agalbachicar

Not sure what's wrong but when I run it (note I had to change the world because it does not work as it is as well) there is a new error:

$ ros2 launch andino_gazebo andino_one_robot.launch.py world:=/usr/share/gazebo-│
11/worlds/animated_box.world                                                                             │
[INFO] [launch]: All log files can be found below /home/agalbachicar/.ros/log/2023-07-05-06-44-37-642473-│
acquara-13375                                                                                            │
[INFO] [launch]: Default logging verbosity is set to INFO                                                │
[ERROR] [launch]: Caught exception in launch (see debug for traceback): XML or text declaration not at st│
art of entity: line 5, column 0

Gazebo just opens well, but the robot fails to be spawned. I think the problem occurs within the process_file() in spawn_robot.launch.py.

andino_gazebo/launch/spawn_robot.launch.py

andino_gazebo/launch/andino_one_robot.launch.py

francocipollone · 2023-07-05T11:10:36Z

Not sure what's wrong but when I run it (note I had to change the world because it does not work as it is as well) there is a new error:

$ ros2 launch andino_gazebo andino_one_robot.launch.py world:=/usr/share/gazebo-│
11/worlds/animated_box.world                                                                             │
[INFO] [launch]: All log files can be found below /home/agalbachicar/.ros/log/2023-07-05-06-44-37-642473-│
acquara-13375                                                                                            │
[INFO] [launch]: Default logging verbosity is set to INFO                                                │
[ERROR] [launch]: Caught exception in launch (see debug for traceback): XML or text declaration not at st│
art of entity: line 5, column 0

Gazebo just opens well, but the robot fails to be spawned. I think the problem occurs within the process_file() in spawn_robot.launch.py.

That was on me, I fixed the issue already #91 . Rebasing the branch against humble should be enough.

Signed-off-by: olmerg <olmerg@gmail.com>

…o into olmerg_simulation_humble

agalbachicar

LGTM

The merge-base changed after approval.

agalbachicar · 2023-07-05T12:49:01Z

@olmerg you need to review the list of commits and amend those that do not have a signature (-s flag when committing).

Signed-off-by: olmerg <olmerg@gmail.com>

francocipollone

Looks good! Just some minor comments to go!

andino_gazebo/package.xml

francocipollone · 2023-07-05T17:02:04Z

andino_gazebo/CMakeLists.txt

+)
+
+
+ament_package()


nit: I don't think it is resolved

andino_gazebo/urdf/andino.gazebo.xacro

Signed-off-by: olmerg <olmerg@gmail.com>

francocipollone

LGTM!

olmerg requested a review from francocipollone as a code owner June 30, 2023 01:30

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francocipollone mentioned this pull request Jul 2, 2023

Removes gazebo references from andino_description. #83

Merged

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olmerg force-pushed the olmerg_simulation_humble branch from b79a067 to 84f777b Compare July 4, 2023 20:03

olmerg added 7 commits July 4, 2023 15:05

draft gazebo classic simulation

4bfd037

Signed-off-by: olmerg <olmerg@gmail.com>

One Andino with diff_drive plugin

1c42669

Signed-off-by: olmerg <olmerg@gmail.com>

from file to package in the xacro

666a7ac

Signed-off-by: olmerg <olmerg@gmail.com>

ros_control error

4a41d64

Signed-off-by: olmerg <olmerg@gmail.com>

xacro and readme small changes

ee27ac3

Signed-off-by: olmerg <olmerg@gmail.com>

comments

7995161

Signed-off-by: olmerg <olmerg@gmail.com>

format python files (adding linter test)

33e7395

Signed-off-by: olmerg <olmerg@gmail.com>

olmerg force-pushed the olmerg_simulation_humble branch from 84f777b to 33e7395 Compare July 4, 2023 20:06

agalbachicar requested changes Jul 5, 2023

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olmerg added 4 commits July 5, 2023 07:11

draft gazebo classic simulation

48624aa

Signed-off-by: olmerg <olmerg@gmail.com>

One Andino with diff_drive plugin

720bb66

Signed-off-by: olmerg <olmerg@gmail.com>

from file to package in the xacro

d1e1ae5

Signed-off-by: olmerg <olmerg@gmail.com>

ros_control error

08a15d0

Signed-off-by: olmerg <olmerg@gmail.com>

olmerg added 4 commits July 5, 2023 07:11

xacro and readme small changes

472bbf3

Signed-off-by: olmerg <olmerg@gmail.com>

comments

84ddbcb

Signed-off-by: olmerg <olmerg@gmail.com>

format python files (adding linter test)

b3ac45b

Signed-off-by: olmerg <olmerg@gmail.com>

Merge branch 'olmerg_simulation_humble' of github.com:Ekumen-OS/andin…

201a995

…o into olmerg_simulation_humble

agalbachicar self-requested a review July 5, 2023 12:46

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adding rsp_frequency argument

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olmerg force-pushed the olmerg_simulation_humble branch from 410259c to 3dbaf78 Compare July 5, 2023 13:06

single quote format

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format changes, add maintainer

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olmerg changed the title ~~Gazebo Classic Simulation humble (WIP)~~ Gazebo Classic Simulation humble Jul 5, 2023

olmerg merged commit 43017a8 into humble Jul 5, 2023
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francocipollone deleted the olmerg_simulation_humble branch July 21, 2023 19:11

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Gazebo Classic Simulation humble #78

Gazebo Classic Simulation humble #78

olmerg commented Jun 30, 2023 •

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		)


		ament_package()

		)


		ament_package()

Gazebo Classic Simulation humble #78

Gazebo Classic Simulation humble #78

Conversation

olmerg commented Jun 30, 2023 • edited

🎉 New feature

Summary

Checklist

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