Check transforms in ROS2

[marinagmoreira]

It was reported by @ana-GT that the transform between world/rviz and body is not showing up in Rviz when running:

ros2 launch astrobee sim.launch.p dds:=false rviz:=true

[marinagmoreira]

Hi! I just checked this there's a couple of things you need to do to get things running.
When you compile it needs to have the --symlink-install on, as there is a weird bug that the gazebo stuff doesn't get found properly:
colcon build --symlink-install
then when starting the sim, use:
ros2 launch astrobee sim.launch.py gtloc:=true debug:=true rviz:=true pose:="10.5 -9 4.5 0 0 0"

• gtloc is needed because the localization is not converted to ros2 yet (gtloc makes the simulation use the ground truth)
• debug is optional, but the only way the gazebo error prints are displayed
• pose is optional too, but since the docking and undocking has not been tested I usually start the robot already floating
• the dds stuff is scrapped, since ros2 uses dds already

[ana-GT]

Thanks! (coming back to this after a while). Running the simulation as stated above shows up the robot correctly in Rviz.

I have a question on the current capabilities of Astrobee in ROS2. For instance, I can see that there are actions available to command the robot to move the arm and to move it itself (/mob/motion /beh/arm). When I try using these, their respective components die. For instance, when trying to send a MOVE command to /mob/motion, I get:

[ERROR] [component_container_mt-22]: process has died [pid 145081, exit code -11, cmd '/opt/ros/rolling/lib/rclcpp_components/component_container_mt --ros-args -r __node:=mlp_mobility -r __ns:=/'].

Is there a list of services/actions that are expected to work? I was going to dig deeper into this error, but figured to ask first, in case these actions are not fully supported to work in ROS2 (if they are, then I can search for the bug).

Thanks!

PS.- Using the latest ubuntu-ros-rolling-20.04 docker for testing this

[marinagmoreira]

Thanks! (coming back to this after a while). Running the simulation as stated above shows up the robot correctly in Rviz.

I have a question on the current capabilities of Astrobee in ROS2. For instance, I can see that there are actions available to command the robot to move the arm and to move it itself (/mob/motion /beh/arm). When I try using these, their respective components die. For instance, when trying to send a MOVE command to /mob/motion, I get:

[ERROR] [component_container_mt-22]: process has died [pid 145081, exit code -11, cmd '/opt/ros/rolling/lib/rclcpp_components/component_container_mt --ros-args -r __node:=mlp_mobility -r __ns:=/'].

Is there a list of services/actions that are expected to work? I was going to dig deeper into this error, but figured to ask first, in case these actions are not fully supported to work in ROS2 (if they are, then I can search for the bug).

Thanks!

PS.- Using the latest ubuntu-ros-rolling-20.04 docker for testing this

Hi Ana! Sorry I haven't have time to test this, I'll prob have time in the next couple of weeks. All the actions are still very experimental, I don't think anything is properly tested yet