fail to run the example in RoS2 foxy

[yang-yuke]

Hi Dear urdf support team,

I am following this urdf tutorial on the RoS2 foxy tutorial. I have downloaded this urdf_tutorial folder to my RoS2 workspace and built it.

Somehow, when I execute the below python script, there are some errors.

ros2 launch urdf_tutorial display.launch.py model:=urdf/01-myfirst.urdf

The error is as displayed in the below picture

Seems there are some inherent code errors in the files you provide, because I don't see this parameter_description module in the launch_ros package.

I haven't changed anything in the folder's files, but there are still such errors. Is it because the urdf_tutorial is still not supported in RoS2 foxy?

[ilVecc]

I have the same issue! Have you managed to solve this meanwhile @yang-yuke?

Edit: I have found this related issue ros2/launch_ros#214.

[ilVecc]

I have managed to solve this using
parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}]
and removing the unnecessary import, but now issue #55 emerged.

[yang-yuke]

Hi @ilVecc,

No, I haven't resolved the issue. I think this tutorial has not yet been supported in RoS2. I don't know why they post it on RoS2's WiKi. I have stopped struggling with it. Instead, I choose to go through the tutorial in RoS1. Now I feel much better.

[clalancette]

This looks to be a case where launch_ros, xacro, or joint_state_publisher_gui wasn't properly installed. For what it is worth, I'm able to run this tutorial just fine on Foxy and on Rolling now that #53 has been merged.

[DLu]

@yang-yuke Can you give the output of apt-cache policy ros-foxy-launch-ros | grep Installed

[0smile]

I'm facing the same problem, and here is my output:
Installed: 0.11.4-1focal.20211005.225211

[yang-yuke]

@yang-yuke Can you give the output of apt-cache policy ros-foxy-launch-ros | grep Installed

Hi @DLu,

The output of apt-cache policy ros-foxy-launch-ros | grep Installed is as below for me.

[yang-yuke]

This looks to be a case where launch_ros, xacro, or joint_state_publisher_gui wasn't properly installed. For what it is worth, I'm able to run this tutorial just fine on Foxy and on Rolling now that #53 has been merged.

Hi Chris,

Thank you so much!!! Your answer is short and to the point. After install Xacro with the command sudo apt install ros-foxy-xacro, combined with following the steps from this webpage of this fellow(lukicdarkoo), I can see my rviz2 window will pop out with the command ros2 launch urdf_tutorial display.launch.py model:=urdf/01-myfirst.urdf, as displayed below.

Still, I have one thing unclear. In the below picture, I see some [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7412: messages. Is this per expected? Or does it mean something is wrong with my installation?
.

There is also one caveat here, just in case some rookie like me might run into it. We need to run the local_setup.bash file of this package(urdf_tutorial) before we launch its instances.

[yang-yuke]

Hi Dear Mr. Chris,

I ran into an issue again. When I try to launch the urdf file, it is not working as expected. There is nothing showing up in the rviz. It is not like before. Could you please help take a look at it for me?

//Ideally, there should be a red cylinder showing up, but nothing in the rviz window. Not sure what is happening.

[yang-yuke]

Try to run the example today again. Somehow, the cylinder shows up again. Just it is not so round. There are obvious corners. Looks more like a polygon rather than a round shape.

[careslab]

Hi All,
I've been having the same issues as above on foxy/windows 10. I just ran and compiled the code. All the build and execution errors are in the attached file.
It is a great demo--it would be nice if it worked on Windows/Foxy.
urdf_errors.pdf

Thanks!

[DLu]

@careslab What version of launch_ros are you using?