inorbit-ai / vda5050_adapter_examples Goto Github PK

Hy,
thank you for providing this example setup!
I tried to build your development docker image, running ./setup.sh following this ReadMe nad ended up having following error:

 => ERROR [deployment-development 10/11] RUN --mount=type=ssh,mode=0666 /bin/bash -c    'source /opt/ros/galactic/setup.bash    && git clone --branch galactic-devel https://github.com/inorbit-ai/ro  3.0s
------                                                                                                                                                                                                      
 > [deployment-development 10/11] RUN --mount=type=ssh,mode=0666 /bin/bash -c    'source /opt/ros/galactic/setup.bash    && git clone --branch galactic-devel https://github.com/inorbit-ai/ros_amr_interop.git    && mv ros_amr_interop/vda5050_connector ./src/vda5050_connector    && /bin/bash -c "source /opt/ros/galactic/setup.bash && colcon build"':                                                           
#0 0.533 Cloning into 'ros_amr_interop'...                                                                                                                                                                  
#0 2.910 [0.301s] ERROR:colcon:colcon build: Duplicate package names not supported:                                                                                                                         
#0 2.910 - vda5050_msgs:
#0 2.910   - ros_amr_interop/vda5050_msgs
#0 2.910   - src/vda5050_msgs

I saw that https://github.com/inorbit-ai/ros_amr_interop.git already includes the vda5050_msgs package.

In the end, commenting the relevant part from here to here i was able to run the simulation as well as the TB3 adapter.

# Clone and compile vda5050_msgs
RUN /bin/bash -c \
   'mkdir -p src && source /opt/ros/galactic/setup.bash' 
#&& git clone --branch ros2-vda5050-v2 https://github.com/ipa320/vda5050_msgs.git \
#&& mv vda5050_msgs/vda5050_msgs ./src/vda5050_msgs \
#&& rm -rf vda5050_msgs \
#&& /bin/bash -c "source /opt/ros/galactic/setup.bash && colcon build"' 

Hy!

When calling the initPosition actionType as e.g. indicated in in this ReadMe, the action seems to never switch its state to finish.

I had a look at the tb3_adapter.py and found that most probably the block of code from here to here should not be part of the else scope. When shifting it outward, the action returns after some seconds with follwoing output:

[vda5050_controller.py-2] [INFO] [1668002862.962848970] [vda5050_connector.controller]: VDA Action finished. Result: vda5050_msgs.msg.CurrentAction(action_id='add9173d-9546-47b7-8cdf-77badd3fa1bf', action_description='', action_status='FINISHED', result_description='')

Hi,

I have tried to run it without Docker, but this is the output I get:

The topics are getting published on ROS2 but not on MQTT. Apparently, is not connecting to the MQTT broker.

Steps to follow:
Ubuntu 22.04
ROS2 Humble

Packages in workspace:

Execution:

• Start Mosquitto broker with Docker (T1): docker run --rm --network host --name mosquitto eclipse-mosquitto
• Launch TurtleBot 3 simulation (T2):
  export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False

I manually set the initial pose of the TurtleBot 3

• Launch connector tb3 (T3): ros2 launch vda5050_tb3_adapter connector_tb3.launch.py

However, if I just run: ros2 launch vda5050_connector mqtt_bridge.launch.py, this happens:

Any clue? Thank you very much!

Hi,
I am trying to retrieve the factsheet of the turtlebot 3 because I would like to see an actual example of it. However, when publishing the instant action factsheetRequest, I get an error. I am unsure if I have added all the needed parameters and if they are correct:

{
"version": "2.0.0",
"manufacturer": "OSRF",
"serialNumber": "TB3_1",
"actions": [
{
"actionType": "factsheetRequest",
"actionId": "'$(cat /proc/sys/kernel/random/uuid)'",
"blockingType": "NONE",
"actionParameters": []
}
]
}

This is the error I get:

Any clue? Thank you very much!