Comments (10)
Hi @FrGe2016,
Unfortunately, this ros2_RobotSimulation repository works with ROS2 Foxy, and not for ROS2 Humble (the ros2_control and ros2_controllers of both versions are different, and that is the main reason why it won't work).
As an example of components that change from one version to the other, ROS2 Humble Gazebo + MoveIt!2 simulations require the {use_sim_time:= True} parameter to be assigned, and the joint_state_publisher in Foxy is converted to joint_state_broadcaster in Humble.
However, I am planning to upload the ROS2 Humble packages soon.
Best regards,
Mikel
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@MikelBueno Thanks for your work and effort! An example with moveit2 and gazebo would also help me a lot!
Can you tell me why you chose Gazebo over the new Ignition simulation package?
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Thanks for your comments :).
First of all, I am happy to share that I have just uploaded the ROS2 Humble repository for ros2_RobotSimulation. @FrGe2016 I would really appreciate it if you could test some of the packages and confirm they are working on your PC (I have uploaded the simplest set-up instructions to the README.md file as well). That would help me a lot to find some bugs in the code or documentation.
With regard to your question @bi3ri, I come from ROS1 and I have always used Gazebo, and that is the main reason why I still work with it. When something works, that's a good reason to continue using it :). But yes, you're right, it seems that Ignition will replace Gazebo in the future, therefore I might start testing some stuff with it (I still feel there is a lack of ROS2-Ignition documentation)... But for the moment, I will stick to Gazebo for ros2_RobotSimulation.
Best regards,
Mikel
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@FrGe2016 You can also check the solution mentioned in the link. This worked for me.
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Hi Mikel
I will try the package (starting today but not necessarily ending)
I will simply document the problems that apear ( not trying to solve them unless a solution is obvious and do not involve C++programming)
First the package build ros2_action fails
( i open a separate issue for this item)
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Very interesting results of my first tests ( i will need the ros2_action to go further )
ros2 launch cr35ia_ros2_moveit2 cr35ia.launch.py
RVIZ start ok
Gazebo start ok
MoveIT2 move from the joint tab ok (simple rotation of joint_1 to -45 degres) OK
Planning ok
Execution fails ( the gazebo model gets unstable and is destroyed)
[move_group-9] [INFO] [1677936736.738234503] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[gzserver-1] [WARN] [1677936738.225529876] [cr35ia_controller]: Aborted due to state tolerance violation
[move_group-9] [WARN] [1677936738.238852159] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'cr35ia_controller'
failed with error PATH_TOLERANCE_VIOLATED:
[move_group-9] [WARN] [1677936738.238926861] [moveit_ros.trajectory_execution_manager]: Controller handle cr35ia_controller reports status ABORTED
[move_group-9] [INFO] [1677936738.238945860] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status ABORTED ...
[move_group-9] [INFO] [1677936738.239010121] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: ABORTED
[rviz2-8] [INFO] [1677936738.239329369] [move_group_interface]: Execute request aborted
[rviz2-8] [ERROR] [1677936738.337824938] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached
Same result with velocity and acceleration scalling down from 0.7 to 0.1
ros2 launch panda_ros2_moveit2 panda.launch.py
First I strugle to make the choice entry Proposed improvement to panda.launch.py ( this comment apply to all the other robots with options )
print(" + Option 1: PANDA ROBOT alone.")
print(" + Option 2: PANDA ROBOT on top of a pedestal.")
cell_layout = input (" Please select an option number: ")
Worked perfectly for many random valid Goal states with pan and execute
ros2 launch irb1200_ros2_moveit2 irb1200.launch.py ok for the execution
ros2 launch irb120_ros2_moveit2 irb120.launch.py ok for the execution Same comment as Panda.launch for the option selection
ros2 launch irb6640_ros2_moveit2 irb6640.launch.py the gazebo model is having vibrations a joint fell in the floor ?
ros2 launch iiwa_ros2_moveit2 iiwa.launch.py Model Not finished yet
ros2 launch ur3_ros2_moveit2 ur3.launch.py Model Not finished yet
ros2 launch ur5_ros2_moveit2 ur5.launch.py Model Not finished yet
ros2 launch ur10_ros2_moveit2 ur5.launch.py Model Not finished yet but more advanced ( Vibration in the gazebo model)
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Hello, @MikelBueno,
Sorry for interruption. I also got stuck on ROS 2 Humble with issue #11 . Could you confirm it and what's the problem on it? Thanks.
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Related Issues (20)
- Different Launch error for ROS2 Foxy and Humble HOT 1
- Inquiry for implementation of customized webcam, Stereo ZED camera on robots for this simulator(Gazebo, MoveIt)
- <moveit/move_group_interface/move_group_interface_improved.h> does not exist. HOT 2
- Error building ros_actions in Humble HOT 1
- No module finding named 'ros2_data.ros2_data_s__rosidl_typesupport_c' HOT 6
- error: no matching function for call to ‘ros2_RobotTrigger::declare_parameter(std::string)’ 61 | this->declare_parameter(std::string("ROB_PARAM")); HOT 1
- move_group_interface_EE’ was not declared in this scope HOT 3
- file not found, Please input the PROGRAM FILENAME correctly as a ROS2 parameter in the Ubuntu Terminal HOT 1
- Colcon build Error 1 package failed: ros2_actions HOT 7
- rclcpp::exceptions::ParameterNotDeclaredException what(): ROB_PARAM
- ERROR: Loader for controller 'panda_handleft_controller' (type 'position_controllers/GripperActionController') not found.
- Robot and motion planning not appearing in Rviz
- Cant open UR5 in gazebo HOT 1
- Stuck at "waiting for MoveJ action server..." HOT 1
- Command list HOT 2
- CONTROLLER MANAGER NOT AVAILABLE HOT 8
- Parser error Couldn't parse parameter override rule: '--param robot_description:=<?xml version="1.0" ?><!-- HOT 2
- Error during compilation of ros2_grasping package
- Change payload size error from RMW HOT 1
- Segmentation fault (Invalid permissions for mapped object [0x7f020803d008])
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