rmf_demos do not run on Galactic about rmf_demos HOT 8 CLOSED

Hello @oldtopos! Thanks for highlighting this issue. Before we dive further into it, as a sanity check, could you try a fresh rebuild of your work space? rm -rf build install, then colcon build

Could you elaborate more on how you are using the joint interfaces, and where? Am I right to assume you are using gazebo_ros2_control to do that?

Which parts of the source code have you modified? That could help us attempt to recreate what you're facing. Thanks!

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I just tested the latest source code with galactic ROS binaries and I can't reproduce the issue, I seem to have no problem on my side. ROS2 Control and gazebo_ros2_control don't seem to be a dependency of OpenRMF so it would be good if you could provide more info about why are they there, exact versions and any modifications you might have done.

As @aaronchongth suggests, it would be great if you can do a clean rebuild, making sure you follow the steps on the instructions, so we can isolate the problem and see if it's really on OpenRMF side or not.

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OK, setting up a fresh Galactic install on AWS Robomaker. Will report results.

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Nope, robots are not moving in office demo. History file below, rebuilding release to see if that yields different behavior.

    1  vim ~/.bashrc
    2  sudo rm -rf /opt/ros/foxy/*
    3  sudo locale-gen en_US en_US.UTF-8
    4  sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
    5  export LANG=en_US.UTF-8
    6  sudo apt update
    7  sudo apt install ros-galactic-desktop
    8  source /opt/ros/galactic/setup.bash
    9  source /opt/ros/galactic/setup.bash
   10  mkdir -p openrmf/src
   11  cd openrmf
   12  sudo apt update && sudo apt install   git cmake python3-vcstool curl   qt5-default   -y
   13  python3 -m pip install flask-socketio
   14  sudo apt-get install python3-colcon*
   15  sudo apt install python3-rosdep
   16  sudo rosdep init
   17  rosdep update
   18  wget https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
   19  vcs import src < rmf.repos
   20  rosdep install --from-paths src --ignore-src --rosdistro galactic -yr
   21  colcon build

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Thanks for this precise description of what it takes to get into this state. I don't think we have tried using AWS Robomaker for these simulations before; we will reproduce and dive into it. Thanks again.

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Release build, same behavior. This may be a serious oversight on my part, if I manually move one of the robots in Gazebo is seems to return to its original location. Am I supposed to be running some other script or issuing other commands to get the vehicles moving ? I assumed the demo is set up to have the robots move automatically, in light of the messages emitted regarding waypoints received. Head smack if I have overlooked a requirement....

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The robots have a "background" task of "if you're not doing anything, return to your charger", so that might be what's happening. In order to give them a more exciting job to do, you can either use a fancy UI like in the docs, or just throw this into the command line as a quick test:

ros2 run rmf_demos_tasks dispatch_delivery -p pantry -pd coke_dispenser -d hardware_2 -di coke_ingestor --use_sim_time

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Yup, that did it. Apologies for wasting your time. Any development tasks you need looked at ?

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