leorover / leo_simulator Goto Github PK

Hi,

I was trying to look at using the marsyard2021 world for a project I am involved in, but I am having trouble getting the terrain to load properly. Everything seems to build fine, so all the deps are there, but when I launch marsyard2021 it results in the followings:

I am not too sure what the issue is, I've checked that the terrain is included in the world file - but it looks fine there. Any idea what might be causing this?

Hi LeoRover Team,

I would like to know if there is release plan regarding of ROS2 support of this package so we and others can use Navigation2 stack with LeoRover in simulation.

ROS: noetic
Ubuntu: 20.04

I am trying to add a Hokuyo Lidar on top of Leo (in simulation) to facilitate SLAM navigation. Here is the ROS Wiki on Adding a lidar to the turtlebot using hector_models that I am following.

1. I first made new package add_lidar and copied all launch files from leo_gazebo and leo_viz, urdf files of Leo from leo_description, rviz files from leo_viz.

2. Downloaded hector_models package
   sudo apt-get install ros-noetic-hector-models

3. Added the following line right after the <robot> tag in macros.xacro:
   <xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro"/>

4. Then added this right before </robot> tag in macros.xacro:

<hokuyo_utm30lx_model name="hokuyo_laser" parent="base_link">
  <origin xyz="0 0 +0.30" rpy="0 0 0" />
</hokuyo_utm30lx_model>

5. Then added this code in both leo_gazebo.launch and view_model.launch (to see in rviz)

 <node name="hokuyo" pkg="hokuyo_node" type="hokuyo_node" respawn="false" output="screen">
  <param name="calibrate_time" type="bool" value="true"/>
  <param name="port" type="string" value="/dev/ttyACM0"/>
  <param name="intensity" type="bool" value="false"/>
  <param name="min_ang" value="-2.2689"/>
  <param name="max_ang" value="+2.2689"/>
  <param name="cluster" value="1"/>
  <param name="frame_id" value="hokuyo_laser_frame"/>
 </node>

Here now I am facing two problems when launching either leo_gazebo.launch(gazebo) or view_model.launch(RViz). One, the Lidar model is not present on Leo. Second the hokuyo_node fails

ERROR: cannot launch node of type [hokuyo_node/hokuyo_node]: hokuyo_node

I consider myself a beginner in ROS, so maybe I placed code in wrong places. Please point out where I have gone wrong. Here is the repository link to add_lidar_to_LeoRover package.

Hi, I'm using the gazebo simulation of the Leo rover. I wonder if depth is available from the camera? When I try to subscribe to the topic /camera/image_raw/compressedDepth with type sensor_msgs/CompressedImage I get the following error:

Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).

I'm on ununtu 20.04 with noetic. The simulator is launched by roslaunch leo_gazebo leo_marsyard.launch.

Thanks in advance!

Siema guys,

i've cloned and set up your project put if i start your project via "roslaunch leo_gazebo leo_gazebo.launch" i get this error:

"Resource not found: The following package was not found in : leo_description"

For me it seems like there misses something, do you guys have a idea?

Hello @bjsowa @szlachcic !

I've spawned the leo rover in Gazebo using this repo & initiated teleop with keyboard using this repo. When I try to rotate the rover in-place, it doesn't rotate all the time & even when it rotates, it does so jerkily. I'm uploading the video of the motion here.

Description of the video:

1. When I command the rover to rotate continuously (by pressing 'l' key), it starts to rotate but suddenly stops after a short time (Although a non-zero angular.z is continuously being written to the twist msg on cmd_vel topic - As seen in the bottom terminal of the video)
2. Then, I command it to move forward in a straight line (by pressing 'i' key). It moves in a curved line. (Although only linear.x is non-zero in the twist msg on cmd_vel topic - As seen in the bottom terminal of the video)
3. Then, I stop pressing any key but the rover still rotates around (the twist msg has on cmd_vel has no non-zero component during this time period).
4. It looks as if the rover stops executing the commands it receives but accumulates them & resumes executing them at a later point of time.

Can you please help me understand why this is happening & how to fix it? Any help is greatly appreciated!

Hello,
I have some questions for LeoRover simulator.

1. Is it possible to proceed leo simulator without actual rover? I cloned leo_simulator but it doesn't work. Could you share tutorials for further process?
2. I have found out that Leo rover has also documentations. But I would need detailed simulation tutorial for testing. Could you help it?
   Thanks.

I am using ROS noteic in my Ubuntu Ubuntu 20.04.3 LTS.
When I:

roslaunch leo_viz rviz.launch

I get the following output in Rviz:

I tried to debug by rosrun tf2_tools view_frames.py and not surprisingly the tf tree does not have any transform from the rocker links:

Can I get some help to solve this issue, please?