[Question]: Gazebo simulation error #82
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ajinkyamar
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question
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locobot@locobot:~/interbotix_ws/src/interbotix_ros_rovers/interbotix_ros_xslocobots/interbotix_xslocobot_sim/launch$ ros2 launch xslocobot_gz_classic.launch.py robot_model:=locobot_wx250s it still produces only walls without locobot file. Where is currect .world file? how do i access it? or am I missing something? |
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Please see if the changes in Interbotix/interbotix_ros_toolboxes#82 solve this issue, specifically the changes made to |
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could you please elaborate more? Do I need to update locobot.py in toolbox? Will it work on galactic ros2 distribution ? Locobot.py doesnt have mention of gazebo |
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You should only need to update the xs_launch.py (at |
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Hi, I did colcon build successfully and they launched command . still same issue . Below is log locobot@locobot: It opens up empty Rviz and gazebo with office room. (screenshot)
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Could you run |
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locobot@locobot: |
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Built was done successfully as well after replacing required file locobot@locobot:~/interbotix_ws$ colcon build Summary: 41 packages finished [6.36s] |
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Hi, could you please suggest something to resolve this issue? |
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It looks like you're running this on the LoCoBot. Because of the RMW configuration that's required, you may need to make sure that everything is configured correctly. Please see this troubleshooting topic and this configuration guide. |
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Hi, Gazebo simulatation did open along with locobot_250s on locobot. I had to use below command However, after I applied force on one link, gz sim got stuck and it started to give errors like below : why are these spawner errors happening? Why did it not spawn again? Thanks |
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Hi, If I have sdf file for locobot, can it be used to create gz simulation on my desktop? what kind of changes will be required besides mesh file location, media location? does it have any other dependencies from interbotix_ws? |
Looks like gzserver is crashing. Please re-run gazebo with verbose logging. |
If you want to do anything with, say, MoveIt or ros2 control, you will need to go through the process of spawning the URDF instead of using the LoCoBot URDF as the URDF contains necessary macros for ros2 control. |
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thank you so much for replying. It is spawned now but it is slow in simulation. ( I logged in with ssh on my computer). It is taking time to select link, and so on. Is there any way to speed it up? |
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Forwarding the Gazebo display through SSH is extremely slow. I would not recommend doing this. You may choose to use the machine directly or possibly use something like a remote desktop application instead. |
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Thank for replying; Running it locally is faster. What does this warning imply? planning_scene_monitor]: The complete state of the robot is not yet known. Missing wheel_drop_left_joint, wheel_drop_right_joint |
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Hi, How can I apply force without making locobot unstable in gazebo? |
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Please share an example on how you are apply forces to the robot and how exactly the robot is going unstable. |
These are not part of the kinematic chain that MoveIt interacts with and can be ignored for now. |
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how to activate the camera, use it in Gazebo, and visualize it in RViz while controlling the robot with MoveIt? Scene from gazebo is not getting reflected in rviz gui. I added camera in rviz from locobot_frame_sensor but it shows blank in the image. I added the image and added camera_img option but it is blank. (It is green ticked though)
It created this confusing view. Is position of camera not right? |
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What topic are you using to subscribe to the images in RViz? It's possible that the default configuration is incorrect. Could you try |
Question
Hi,
When I launch gazebo simulation command, following error shows up. An Empty Gazebo simulation(with trosenrobtics office setup -walls) and rviz opens up. Why is it so? below is lg of commands.
locobot@locobot:~/interbotix_ws$ ros2 launch interbotix_xslocobot_sim xslocobot_gz_classic.launch.py robot_model:=locobot_wx250s robot_description:=gz_classic
[INFO] [launch]: All log files can be found below /home/locobot/.ros/log/2025-01-22-06-43-47-988020-locobot-22853
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gzserver-1]: process started with pid [22862]
[INFO] [gzclient -2]: process started with pid [22864]
[INFO] [spawn_entity.py-3]: process started with pid [22867]
[INFO] [robot_state_publisher-4]: process started with pid [22870]
[INFO] [rviz2-5]: process started with pid [22872]
[ERROR] [robot_state_publisher-4]: process has died [pid 22870, exit code -6, cmd '/opt/ros/galactic/lib/robot_state_publisher/robot_state_publisher --ros-args -r __ns:=/locobot --params-file /tmp/launch_params_tzb47c5k'].
Robot Model
locobot 250s
Operating System
Ubuntu 20.04
ROS Version
ROS 2 Galactic
Additional Info
No response
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