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Gazebo support (draft) #19
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61db58e
first step to gazebo support
mikaelarguedas 3cdf7a1
add scripts taken and modifies from turtlebot3_simulation
mikaelarguedas 806188c
add simulation launchfile
mikaelarguedas 09cba9a
move urdf_spawner back in confbot_simulation
mikaelarguedas d164f5a
restore package:// path
mikaelarguedas 7bb59d9
add dependencies not part of the nightly image
mikaelarguedas 9b37f60
blacklist dependencies built from source from the test invocation
mikaelarguedas 84cc7d9
fix test failures
mikaelarguedas 1c73252
almost empty world
mikaelarguedas 3aa543d
rebasing
mikaelarguedas 60deaa4
dont set use_sim_time as currently doesn't impact time used
mikaelarguedas d7695e7
Revert "dont set use_sim_time as currently doesn't impact time used"
mikaelarguedas 7742dc2
use libgazebo_ros_init to have sim time published
mikaelarguedas d5d09f4
fix conversion error from string to bool
Karsten1987 5427e4d
actually using the sim time parameter correctly
Karsten1987 739006f
interpret launch configuration as yaml
Karsten1987 ae5f961
visualize the laser scan in gazebo
Karsten1987 394521e
use sim time
Karsten1987 e885f50
make laser_frame point forward
mikaelarguedas 6777de9
gazebo_ros now declares/set use_sim_time to true by default
mikaelarguedas 63cfa77
add camera
mikaelarguedas ea88a55
move back camera_frame on the robot base
mikaelarguedas 18e5594
add rviz config for gazebo
mikaelarguedas 82127e1
add preliminary Gazebo section
mikaelarguedas cadb71a
fix config file name in instructions
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1 +1,13 @@ | ||
| repositories: | ||
| gazebo_ros_pkgs: | ||
| type: git | ||
| url: https://github.com/ros-simulation/gazebo_ros_pkgs.git | ||
| version: ros2 | ||
| image_common: | ||
| type: git | ||
| url: https://github.com/ros-perception/image_common.git | ||
| version: ros2 | ||
| vision_opencv: | ||
| type: git | ||
| url: https://github.com/ros-perception/vision_opencv.git | ||
| version: ros2 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,43 @@ | ||
| # Copyright 2019 ROBOTIS CO., LTD. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
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| # /* Author: Darby Lim */ | ||
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| import os | ||
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| from ament_index_python.packages import get_package_share_directory | ||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch_ros.actions import Node | ||
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| def generate_launch_description(): | ||
| urdf_file_name = 'confbot.urdf' | ||
| urdf = os.path.join(get_package_share_directory('confbot_description'), 'urdf', urdf_file_name) | ||
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| return LaunchDescription([ | ||
| DeclareLaunchArgument( | ||
| 'use_sim_time', | ||
| default_value='True', | ||
| description='Use simulation (Gazebo) clock if true'), | ||
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| Node( | ||
| package='robot_state_publisher', | ||
| node_executable='robot_state_publisher', | ||
| node_name='robot_state_publisher', | ||
| output='screen', | ||
| parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}], | ||
| arguments=[urdf]) | ||
| ]) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| cmake_minimum_required(VERSION 3.5) | ||
| project(confbot_simulation) | ||
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| # find dependencies | ||
| find_package(ament_cmake REQUIRED) | ||
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| install(DIRECTORY config launch world | ||
| DESTINATION share/${PROJECT_NAME}) | ||
| install(PROGRAMS ${PROJECT_NAME}/urdf_spawner.py | ||
| DESTINATION lib/${PROJECT_NAME}) | ||
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| if(BUILD_TESTING) | ||
| find_package(ament_lint_auto REQUIRED) | ||
| ament_lint_auto_find_test_dependencies() | ||
| endif() | ||
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| ament_package() |
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I'm using ray here because
gpu_rayreturns infinity for all points even the one hitting obstacles.also it prints this warning:
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That warning can be ignored.
Does your model have visuals besides collisions? The
gpu_raysees visuals, while theraysees collisions.Can you reproduce the issue with this demo world? https://github.com/ros-simulation/gazebo_ros_pkgs/blob/ros2/gazebo_plugins/worlds/gazebo_ros_ray_sensor_demo.world
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I'm using only primitive shapes that I dropped in the world from the Gazebo UI, I think they have both visual and collision.
Thanks for the pointer, we'll try it on the demo world to see if it's the same.
Note: I'm compiling the gazebo plugins from source without any specific flags, maybe GPU support is not enabled?
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Yup, they do
There are no flags to disable GPU support, so compilation should be working correctly. At runtime, if
gzclientworks, then I'd expect the rendering sensors to work as well. You could double-check by dropping a camera in the world and seeing if the images show the shapes.There was a problem hiding this comment.
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@chapulina Sorry for the delay, I fInally got a chance to try the demo world (using the dashing debs), and I'm facing the same issue:
command ran:
Regular ray sensor works (some non inf values)
gpu_ray sensor returns only infinity
I tried the camera demo and can see the objects successfully:
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Interesting, I get very similar readings from both of them, I'm on a source install.
Do the GPU readings look right on Gazebo's topic viewer (
Ctrl + T, and you need to zoom in):I can only think it's an issue with your graphics, but I'm not sure why the RGB camera works. Are the point cloud messages working?
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Yeah I had some issues of RViz being very slow as well. I ended up reinstalling all the graphics drivers and it seems to have fixed the issue !
Thanks for taking the time to reproduce 🙇♂️ !