ros2 / turtlebot2_demo Goto Github PK

Bug report

Required Info:

• Operating System:
• Installation type:
• Version or commit hash:
• DDS implementation:
• Client library (if applicable):

Steps to reproduce issue

Expected behavior

Actual behavior

Additional information

Feature request

Feature description

Implementation considerations

maybe reconsider the use of the restart exit handler

$ launch ~/ros2_ws/src/turtlebot2_demo/turtlebot2_drivers/launch/turtlebot_joy.py
(joy_node) pid 2737: ['joy_node'] (stderr > stdout, all > console)
[joy_node] ahhhh couldn't open /dev/input/js0
(joy_node) rc 1
(joy_node) pid 2738: ['joy_node'] (stderr > stdout, all > console)
[joy_node] ahhhh couldn't open /dev/input/js0
(joy_node) rc 1
(joy_node) pid 2739: ['joy_node'] (stderr > stdout, all > console)
[joy_node] ahhhh couldn't open /dev/input/js0
(joy_node) rc 1
(joy_node) pid 2740: ['joy_node'] (stderr > stdout, all > console)
[joy_node] ahhhh couldn't open /dev/input/js0
(joy_node) rc 1
(joy_node) pid 2741: ['joy_node'] (stderr > stdout, all > console)
...

After finished the build, I can execute the kobuki_node, but I cannot find the joy_node as described in README.md. where to download it?

While a keyboard teleop isn't the best, it is better than nothing if you don't have a joystick handy. We should land the keyboard teleop code that is available in this branch

As @mikaelarguedas rightly points out, the name of the 'depth_to_pointcloud' package is inconsistent and not entirely accurate. We should rename it to "depthimage_to_pointcloud2", which is both accurate and consistent with other names we are using.

Right now, it is hosting at least 3 different things:

• The kobuki driver node
• The dumb teleop node
• The launch files

We should probably just get rid of dumb_teleop completely. Beyond that, it would probably make sense to fork the upstream https://github.com/yujinrobot/kobuki.git repository to land the updated kobuki driver in (see #34 ). And then the launch files would make more sense as a top-level "robot" package.

I did find that in kobuki.hpp the usage of ecl::LegacyPose2D is different from kobuki_node.cpp, which was ecl::Pose2D at lines 99 and 102. I changed them and the build works for beta1/rti.

When I install packages use command

src/ament/ament_tools/scripts/ament.py build --isolated --symlink-install --parallel --only cartographer cartographer_ros ceres_solver turtlebot2_amcl turtlebot2_cartographer turtlebot2_drivers turtlebot2_follower turtlebot2_teleop --make-flags -j2 -l2

I get this error like below:

Determining if the pthread_create exist failed with the following output:
Change Dir: /home/wangyawei/RosWorkspace/ros2_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeTmp

Run Build Command:"/usr/bin/make" "cmTC_2f9df/fast"
/usr/bin/make -f CMakeFiles/cmTC_2f9df.dir/build.make CMakeFiles/cmTC_2f9df.dir/build
make[1]: Entering directory '/home/wangyawei/RosWorkspace/ros2_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_2f9df.dir/CheckSymbolExists.c.o
/usr/bin/cc     -o CMakeFiles/cmTC_2f9df.dir/CheckSymbolExists.c.o   -c /home/wangyawei/RosWorkspace/ros2_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeTmp/CheckSymbolExists.c
Linking C executable cmTC_2f9df
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_2f9df.dir/link.txt --verbose=1
/usr/bin/cc       CMakeFiles/cmTC_2f9df.dir/CheckSymbolExists.c.o  -o cmTC_2f9df 
CMakeFiles/cmTC_2f9df.dir/CheckSymbolExists.c.o: In function `main':
CheckSymbolExists.c:(.text+0x16): undefined reference to `pthread_create'
collect2: error: ld returned 1 exit status
CMakeFiles/cmTC_2f9df.dir/build.make:97: recipe for target 'cmTC_2f9df' failed
make[1]: *** [cmTC_2f9df] Error 1
make[1]: Leaving directory '/home/wangyawei/RosWorkspace/ros2_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeTmp'
Makefile:126: recipe for target 'cmTC_2f9df/fast' failed
make: *** [cmTC_2f9df/fast] Error 2

File /home/wangyawei/RosWorkspace/ros2_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeTmp/CheckSymbolExists.c:
/* */
#include <pthread.h>

int main(int argc, char** argv)
{
  (void)argv;
#ifndef pthread_create
  return ((int*)(&pthread_create))[argc];
#else
  (void)argc;
  return 0;
#endif
}

Determining if the function pthread_create exists in the pthreads failed with the following output:
Change Dir: /home/wangyawei/RosWorkspace/ros2_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeTmp

Run Build Command:"/usr/bin/make" "cmTC_611b6/fast"
/usr/bin/make -f CMakeFiles/cmTC_611b6.dir/build.make CMakeFiles/cmTC_611b6.dir/build
make[1]: Entering directory '/home/wangyawei/RosWorkspace/ros2_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_611b6.dir/CheckFunctionExists.c.o
/usr/bin/cc    -DCHECK_FUNCTION_EXISTS=pthread_create   -o CMakeFiles/cmTC_611b6.dir/CheckFunctionExists.c.o   -c /usr/share/cmake-3.5/Modules/CheckFunctionExists.c
Linking C executable cmTC_611b6
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_611b6.dir/link.txt --verbose=1
/usr/bin/cc   -DCHECK_FUNCTION_EXISTS=pthread_create    CMakeFiles/cmTC_611b6.dir/CheckFunctionExists.c.o  -o cmTC_611b6 -lpthreads 
/usr/bin/ld: cannot find -lpthreads
collect2: error: ld returned 1 exit status
CMakeFiles/cmTC_611b6.dir/build.make:97: recipe for target 'cmTC_611b6' failed
make[1]: *** [cmTC_611b6] Error 1
make[1]: Leaving directory '/home/wangyawei/RosWorkspace/ros2_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeTmp'
Makefile:126: recipe for target 'cmTC_611b6/fast' failed
make: *** [cmTC_611b6/fast] Error 2

Someone can help me?

OS- Ubuntu 14.04

Error- Due to presence of "amcl" packages, I am facing issues in installing turltebot2 in ubuntu 16.04 OS having ROS Kinetic and ros2 installed.

Bug report

Required Info:

• Operating System:
  Ubuntu 18.04
• Installation type:
  Source
• Version or commit hash:
• DDS implementation:
• Client library (if applicable):

turtlebot_drivers

Steps to reproduce issue

Expected behavior

Actual behavior

Failed <<< turtlebot2_drivers [30.0s, exited with code -11]

Additional information

I am trying to install turtlebot2 drivers following the instructions in the repository.
I cannot successfully install the turtlebot2 drivers and therefore I cannot successfully use the demo.

I have reached to a point where I have successfully installed ros2-bouncy from source. Installed ros-melodic. But when I try to build the ros1 libraries it throws an error.
Specifically. I run
colcon build --symlink-install --packages-select cartographer cartographer_ros turtlebot2_amcl turtlebot2_cartographer turtlebot2_drivers turtlebot2_follower turtlebot2_teleop

and I get

Starting >>> turtlebot2_drivers
Starting >>> cartographer                        
Failed   <<< turtlebot2_drivers [30.0s, exited with code -11]                                         
Aborted  <<< cartographer [8min 15s]                                          
                                      
Summary: 0 packages finished [8min 17s]
  1 package failed: turtlebot2_drivers
  1 package aborted: cartographer
  1 package had stderr output: cartographer
  5 packages not processed

Any help in this regard will be deeply appreciated. I am new to ros2, so sorry for noob questions.

Feature request

Feature description

Implementation considerations

I am not sure whether this is the place to ask, however we have a turtlebot autonomous mapping repo under ROS indigo for more than 8 months. I would like to transfer it to ROS2 to add to the demos for turtlebot. Any suggestions? Thanks!

Feature request

Support Create 2 iRobot base, other 3d sensors.

Feature description

In ROS Kinetic, one can use the iRobot Create 2 base for a turtlebot_demo by updating .bashrc:
export TURTLEBOT_BASE=create
export TURTLEBOT_STACKS=circles
export TURTLEBOT_3D_SENSOR=asus_xtion_pro (alternatively kinect)

Because this robot is still actively sold and marketed, it would be very helpful to have this same option. It is a very affordable option to try the turtlebot demos and it was easy to do with Kinetic.

follow-up of #85

Implementation consideration

May be worth upgrading the code to cartographer 1.0 before porting cartographer_rviz

In order to build the current turtlebot2 drivers, one has to very carefully follow the build instructions: https://github.com/ros2/turtlebot2_demo/blob/master/README.md . In particular, during the initial build, Kinetic can not be sourced, otherwise it causes compilation errors. Then, the user has to source Kinetic and build just the turtlebot2 parts of the stack. Failing to follow this exact sequence can lead to API conflicts in tf2_ros, as seen in #74 . One thing we should do to work around this is to actually port libkobuki.so into ROS2 so that we don't have to have this dance with Kinetic.

Bug report

When build the turtlebot2_driver package, its kobuki_node depends on ROS1 kobuki_driver, but after running source /opt/ros/kinetic/setup.bash, the building process is directed to use APIs in ROS1 tf2_ros transform_broadcaster.h, howerver, it should use those same APIs which are defined is ROS2 tf2_ros transform_broadcaster.h and have different arguments from ROS1. the following is the build error:

+++ Building 'turtlebot2_drivers'
==> '. /home/ros/Myspace/rosdev/ros2/release-latest/build/turtlebot2_drivers/cmake__build.sh && /usr/bin/make cmake_check_build_system' in '/home/ros/Myspace/rosdev/ros2/release-latest/build/turtlebot2_drivers'
==> '. /home/ros/Myspace/rosdev/ros2/release-latest/build/turtlebot2_drivers/cmake__build.sh && /usr/bin/make -j4 -l4' in '/home/ros/Myspace/rosdev/ros2/release-latest/build/turtlebot2_drivers'
[ 50%] Built target dumb_teleop
[ 75%] Building CXX object CMakeFiles/kobuki_node.dir/src/kobuki_node.cpp.o
/home/ros/Myspace/rosdev/ros2/release-latest/src/ros2/turtlebot2_demo/turtlebot2_drivers/src/kobuki_node.cpp: In function ‘int main(int, char**)’:
/home/ros/Myspace/rosdev/ros2/release-latest/src/ros2/turtlebot2_demo/turtlebot2_drivers/src/kobuki_node.cpp:89:40: error: no matching function for call to ‘tf2_ros::TransformBroadcaster::TransformBroadcaster(std::shared_ptrrclcpp::Node&)’
tf2_ros::TransformBroadcaster br(node);
^
In file included from /home/ros/Myspace/rosdev/ros2/release-latest/src/ros2/turtlebot2_demo/turtlebot2_drivers/src/kobuki_node.cpp:42:0:
/opt/ros/kinetic/share/sophus/../../include/tf2_ros/transform_broadcaster.h:51:3: note: candidate: tf2_ros::TransformBroadcaster::TransformBroadcaster()
TransformBroadcaster();
^
/opt/ros/kinetic/share/sophus/../../include/tf2_ros/transform_broadcaster.h:51:3: note: candidate expects 0 arguments, 1 provided
/opt/ros/kinetic/share/sophus/../../include/tf2_ros/transform_broadcaster.h:48:7: note: candidate: tf2_ros::TransformBroadcaster::TransformBroadcaster(const tf2_ros::TransformBroadcaster&)
class TransformBroadcaster{
^
/opt/ros/kinetic/share/sophus/../../include/tf2_ros/transform_broadcaster.h:48:7: note: no known conversion for argument 1 from ‘std::shared_ptrrclcpp::Node’ to ‘const tf2_ros::TransformBroadcaster&’
/opt/ros/kinetic/share/sophus/../../include/tf2_ros/transform_broadcaster.h:48:7: note: candidate: tf2_ros::TransformBroadcaster::TransformBroadcaster(tf2_ros::TransformBroadcaster&&)
/opt/ros/kinetic/share/sophus/../../include/tf2_ros/transform_broadcaster.h:48:7: note: no known conversion for argument 1 from ‘std::shared_ptrrclcpp::Node’ to ‘tf2_ros::TransformBroadcaster&&’
/home/ros/Myspace/rosdev/ros2/release-latest/src/ros2/turtlebot2_demo/turtlebot2_drivers/src/kobuki_node.cpp:233:34: error: no matching function for call to ‘tf2_ros::TransformBroadcaster::sendTransform(geometry_msgs::msg::TransformStamped_<std::allocator >&)’
br.sendTransform(*odom_tf_msg);
^
In file included from /home/ros/Myspace/rosdev/ros2/release-latest/src/ros2/turtlebot2_demo/turtlebot2_drivers/src/kobuki_node.cpp:42:0:
/opt/ros/kinetic/share/sophus/../../include/tf2_ros/transform_broadcaster.h:63:8: note: candidate: void tf2_ros::TransformBroadcaster::sendTransform(const TransformStamped&)
void sendTransform(const geometry_msgs::TransformStamped & transform);
^
/opt/ros/kinetic/share/sophus/../../include/tf2_ros/transform_broadcaster.h:63:8: note: no known conversion for argument 1 from ‘geometry_msgs::msg::TransformStamped_<std::allocator >’ to ‘const TransformStamped& {aka const geometry_msgs::TransformStamped_<std::allocator >&}’
/opt/ros/kinetic/share/sophus/../../include/tf2_ros/transform_broadcaster.h:67:8: note: candidate: void tf2_ros::TransformBroadcaster::sendTransform(const std::vector<geometry_msgs::TransformStamped_<std::allocator > >&)
void sendTransform(const std::vector<geometry_msgs::TransformStamped> & transforms);
^
/opt/ros/kinetic/share/sophus/../../include/tf2_ros/transform_broadcaster.h:67:8: note: no known conversion for argument 1 from ‘geometry_msgs::msg::TransformStamped_<std::allocator >’ to ‘const std::vector<geometry_msgs::TransformStamped_<std::allocator > >&’
/home/ros/Myspace/rosdev/ros2/release-latest/src/ros2/turtlebot2_demo/turtlebot2_drivers/src/kobuki_node.cpp:250:33: error: no matching function for call to ‘tf2_ros::TransformBroadcaster::sendTransform(geometry_msgs::msg::TransformStamped_<std::allocator >&)’
br.sendTransform(*imu_tf_msg);
^
In file included from /home/ros/Myspace/rosdev/ros2/release-latest/src/ros2/turtlebot2_demo/turtlebot2_drivers/src/kobuki_node.cpp:42:0:
/opt/ros/kinetic/share/sophus/../../include/tf2_ros/transform_broadcaster.h:63:8: note: candidate: void tf2_ros::TransformBroadcaster::sendTransform(const TransformStamped&)
void sendTransform(const geometry_msgs::TransformStamped & transform);
^
/opt/ros/kinetic/share/sophus/../../include/tf2_ros/transform_broadcaster.h:63:8: note: no known conversion for argument 1 from ‘geometry_msgs::msg::TransformStamped_<std::allocator >’ to ‘const TransformStamped& {aka const geometry_msgs::TransformStamped_<std::allocator >&}’
/opt/ros/kinetic/share/sophus/../../include/tf2_ros/transform_broadcaster.h:67:8: note: candidate: void tf2_ros::TransformBroadcaster::sendTransform(const std::vector<geometry_msgs::TransformStamped_<std::allocator > >&)
void sendTransform(const std::vector<geometry_msgs::TransformStamped> & transforms);
^
/opt/ros/kinetic/share/sophus/../../include/tf2_ros/transform_broadcaster.h:67:8: note: no known conversion for argument 1 from ‘geometry_msgs::msg::TransformStamped_<std::allocator >’ to ‘const std::vector<geometry_msgs::TransformStamped_<std::allocator > >&’
CMakeFiles/kobuki_node.dir/build.make:62: recipe for target 'CMakeFiles/kobuki_node.dir/src/kobuki_node.cpp.o' failed
make[2]: *** [CMakeFiles/kobuki_node.dir/src/kobuki_node.cpp.o] Error 1
CMakeFiles/Makefile2:99: recipe for target 'CMakeFiles/kobuki_node.dir/all' failed
make[1]: *** [CMakeFiles/kobuki_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2

<== Command '. /home/ros/Myspace/rosdev/ros2/release-latest/build/turtlebot2_drivers/cmake__build.sh && /usr/bin/make -j4 -l4' failed in '/home/ros/Myspace/rosdev/ros2/release-latest/build/turtlebot2_drivers' with exit code '2'
<== Command '. /home/ros/Myspace/rosdev/ros2/release-latest/build/turtlebot2_drivers/cmake__build.sh && /usr/bin/make -j4 -l4' failed in '/home/ros/Myspace/rosdev/ros2/release-latest/build/turtlebot2_drivers' with exit code '2'

Required Info:

• Operating System:
  • Ubuntu 16.04
• Installation type:
  • ROS2 source and ROS1 Binary
• Version or commit hash:
  • master
• DDS implementation:
  • N/A
• Client library (if applicable):
  • N/A

Steps to reproduce issue

1. Clone the ROS2 release-latest (a.k.a ardent) and turtlebot2_demo ardent branch
2. Run `src/ament/ament_tools/scripts/ament.py build --build-tests --symlink-install --only-packages turtlebot2_drivers` after sourcing the ROS1 setup.bash which is installed in the way of binary package

Expected behavior

No build error and use ROS2 tf2_ros

Actual behavior

use ROS1 tf2_ros

Additional information

The ROS1 kobuki node is written as an event-based loop that takes data as it comes in from the serial line and publishes it to ROS directly. In contrast, the current ROS2 kobuki_node polls for data at 20Hz and publishes it.

Because of this, the ROS1 node publishes data at a much higher rate for IMU (100 Hz) and odometry (50Hz).

I started some work on doing this on this branch. It works as intended, but tends to crash. So we should probably figure out why that is and switch to using that for the kobuki node.

I followed the doc to build the demo, but received the below error messsages, any suggestions/comments?

Built target dumb_teleop
In file included from ros2_ws/src/turtlebot2_demo/turtlebot2_drivers/src/kobuki_node.cpp:40:0:
ros2_ws/install/include/tf2_ros/transform_broadcaster.h:72:32: error: ‘tf2_msgs’ was not declared in this scope
rclcpp::publisher::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr publisher_;

At bouncy testing time we should try the turtlebot_cartographer demo and modify the configuration files if needed as the set of parameter changed quite a bit since we originally ported.

We can use the official cartographer_turtlebot 0.3.0 configuration files as a reference

we run the demo "turtlebot2_cartographer/launch/turtlebot_carto_2d.py" on turtlebot2 by Hokuyo laser(enabled urg_node) , but the mapping meet overlays while turn round the robot.

• Not sure If community met same issues as below pic?
• Not see flat_world_imu_node_main.cc(from ROS1) is porting to ROS2, will it be the root cause?

Mapping with Hokuyo UTM-30LX