Error building turbot3_gaebo on ROS2 Humble

[raybietry]

ISSUE TEMPLATE ver. 0.4.0

1. Which TurtleBot3 platform do you use?

   • Burger
   • Waffle
   • Waffle Pi

2. Which ROS is working with TurtleBot3?

   • ROS 1 Kinetic Kame
   • ROS 1 Melodic Morenia
   • ROS 1 Noetic Ninjemys
   • ROS 2 Dashing Diademata
   • ROS 2 Eloquent Elusor
   • ROS 2 Foxy Fitzroy
   • etc ROS2 Humble Hawkbill

3. Which SBC(Single Board Computer) is working on TurtleBot3?

   • Intel Joule 570x
   • Raspberry Pi 3B+
   • Raspberry Pi 4
   • etc (Please specify your SBC here)

4. Which OS you installed on SBC?

   • Raspbian distributed by ROBOTIS
   • Ubuntu MATE (16.04/18.04/20.04)
   • Ubuntu preinstalled server (18.04/20.04)
   • etc (Please specify your OS here)

5. Which OS you installed on Remote PC?

   • Ubuntu 16.04 LTS (Xenial Xerus)
   • Ubuntu 18.04 LTS (Bionic Beaver)
   • Ubuntu 20.04 LTS (Focal Fossa)
   • Windows 10
   • MAC OS X (Specify version)
   • etc (Please specify your OS here)

6. Specify the software and firmware version(Can be found from Bringup messages)

   • Software version: [x.x.x]
   • Firmware version: [x.x.x]

7. Specify the commands or instructions to reproduce the issue.

   cd ~/turtlebot3_ws && colcon build --symlink-install

8. Copy and Paste the error messages on terminal.
   --- stderr: turtlebot3_gazebo
   CMake Warning (dev) at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
   The package name passed to find_package_handle_standard_args (PkgConfig)
   does not match the name of the calling package (gazebo). This can lead to
   problems in calling code that expects find_package result variables
   (e.g., _FOUND) to follow a certain pattern.
   Call Stack (most recent call first):
   /usr/share/cmake-3.22/Modules/FindPkgConfig.cmake:99 (find_package_handle_standard_args)
   /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:72 (include)
   CMakeLists.txt:23 (find_package)
   This warning is for project developers. Use -Wno-dev to suppress it.

---

9. Please describe the issue in detail.
   After installing the simulator hangs

ray@ray-XPS13-9333:/turtlebot3_ws$ export TURTLEBOT3_MODEL=burger
ray@ray-XPS13-9333:/turtlebot3_ws$ ros2 launch turtlebot3_gazebo empty_world.launch.py
[INFO] [launch]: All log files can be found below /home/ray/.ros/log/2024-03-23-11-04-51-649773-ray-XPS13-9333-24157
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_burger.urdf
urdf_file_name : turtlebot3_burger.urdf
[INFO] [gzserver-1]: process started with pid [24158]
[INFO] [gzclient-2]: process started with pid [24160]
[INFO] [robot_state_publisher-3]: process started with pid [24162]
[INFO] [spawn_entity.py-4]: process started with pid [24164]
[robot_state_publisher-3] [INFO] [1711206293.548231308] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-3] [INFO] [1711206293.548424820] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1711206293.548448996] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-3] [INFO] [1711206293.548463531] [robot_state_publisher]: got segment caster_back_link
[robot_state_publisher-3] [INFO] [1711206293.548476809] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-3] [INFO] [1711206293.548491433] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-3] [INFO] [1711206293.548504259] [robot_state_publisher]: got segment wheel_right_link
[ERROR] [gzserver-1]: process has died [pid 24158, exit code 255, cmd 'gzserver /home/ray/turtlebot3_ws/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/empty_world.world -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
[spawn_entity.py-4] [INFO] [1711206294.488178007] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1711206294.489085903] [spawn_entity]: Loading entity XML from file /home/ray/turtlebot3_ws/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf
[spawn_entity.py-4] [INFO] [1711206294.491542298] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1711206294.492584484] [spawn_entity]: Waiting for service /spawn_entity
[gzclient-2] gzclient: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = gazebo::rendering::Camera; typename boost::detail::sp_member_access::type = gazebo::rendering::Camera*]: Assertion `px != 0' failed.
[ERROR] [gzclient-2]: process has died [pid 24160, exit code -6, cmd 'gzclient'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-3] [INFO] [1711206306.758253112] [rclcpp]: signal_handler(signum=2)
[spawn_entity.py-4] Traceback (most recent call last):
[spawn_entity.py-4] File "/opt/ros/humble/lib/gazebo_ros/spawn_entity.py", line 370, in
[spawn_entity.py-4] main()
[spawn_entity.py-4] File "/opt/ros/humble/lib/gazebo_ros/spawn_entity.py", line 365, in main
[spawn_entity.py-4] exit_code = spawn_entity_node.run()
[spawn_entity.py-4] File "/opt/ros/humble/lib/gazebo_ros/spawn_entity.py", line 228, in run
[spawn_entity.py-4] success = self._spawn_entity(entity_xml, initial_pose, spawn_service_timeout)
[spawn_entity.py-4] File "/opt/ros/humble/lib/gazebo_ros/spawn_entity.py", line 276, in _spawn_entity
[spawn_entity.py-4] if client.wait_for_service(timeout_sec=timeout):
[spawn_entity.py-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/client.py", line 177, in wait_for_service
[spawn_entity.py-4] time.sleep(sleep_time)
[spawn_entity.py-4] KeyboardInterrupt
[ERROR] [spawn_entity.py-4]: process has died [pid 24164, exit code -2, cmd '/opt/ros/humble/lib/gazebo_ros/spawn_entity.py -entity burger -file /home/ray/turtlebot3_ws/install/turtlebot3_gazebo/share/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf -x 0.0 -y 0.0 -z 0.01 --ros-args'].
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 24162]

[rest271828]

why no answer QAQ

[yun-goon]

Hi @raybietry @rest271828

It seems that conflict between gzserver and gzclient causing simulation interruption in Gazebo.
Solution: Update gazebo_ros_pkgs and related packages, then rebuild and rerun the simulation. Try the following commands:

sudo apt update
sudo apt upgrade ros-humble-gazebo*
cd ~/turtlebot3_ws && colcon build --symlink-install

Let us know if further issues persist.
Thank you.

[GyuH13]

Hi. Try to command one of them below.

echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc
echo 'source /usr/share/gazebo-11/setup.sh' >> ~/.bashrc
echo '/usr/share/gazebo-11/setup.bash' >> ~/.bashrc

and command

source ~/.bashrc

[rest271828]

Hi. Try to command one of them below.

echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc
echo 'source /usr/share/gazebo-11/setup.sh' >> ~/.bashrc
echo '/usr/share/gazebo-11/setup.bash' >> ~/.bashrc

and command

source ~/.bashrc

It really works.Thanks so much!!!

[rest271828]

The error reminder i should source /share/gazebo/setup.bash.So the reason is no "source ".At the beginning i thought the PATH is '/opt/ros/humble/share/gazebo/setup.bash' and clearly was wrong.