hsr-project / hsr_ros2_doc Goto Github PK

I built the ROS2 environment on the actual robot according to https://github.com/hsr-project/hsr_ros2_doc.
I ran the following command.
rosdep install --from-paths . -y --ignore-src
And then, the following error is displayed.

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
hsrb_gripper_controller: Cannot locate rosdep definition for [joint_trajectory_controller]
openni2_camera: Cannot locate rosdep definition for [camera_info_manager]
hsrb_description: Cannot locate rosdep definition for [xacro]
hsrb_robot_hardware: Cannot locate rosdep definition for [transmission_interface]
hsrb_base_controllers: Cannot locate rosdep definition for [realtime_tools]
hsrb_bringup: Cannot locate rosdep definition for [usb_cam]

What is the solution?
Please advice.

I am running actual robot of HSR and trying navigation with ROS2 foxy.

I have ran navigation by the following documentation: hsrb_rosnav_config

To launch Rviz2 successfully.
I ran the following command:

ros2 launch hsrb_rosnav_config navigation_launch.py map:=/full/path/to/map.yaml

And when I specified 2D Pose Estimate, I could not get TF.

What's the problem?

After the install described in issue #5, I stopped docker.hsrb.roscore.service, released the stop button, and executed the following command,

ros2 launch hsrb_bringup hsrb.launch.py

However, an error appeared immediately.

[INFO] [launch]: All log files can be found below /home/masutani/.ros/log/2024-02-09-04-52-52-549957-hsrb-33170
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [33185]
[ERROR] [ros2_control_node-1]: process has died [pid 33185, exit code -6, cmd '/opt/ros/foxy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_hu07z5nk --params-file /home/masutani/hsr_ros2_ws/install/hsrb_bringup/share/hsrb_bringup/config/controllers.yaml --params-file /tmp/launch_params_x8pwv3ze -r odom:=~/wheel_odom'].

(omitting the rest)

The ros2_control_node died.

How can I check to solve this?

__I'm trying to create a map in the simulator of HSR in ROS2 environment.
So I need to get the sensor information of HSR on Rviz.

I built a simulator according to https://github.com/hsr-project/hsr_ros2_doc.
Then starting gazebo and spawning HSR worked correctly.

I ran the following command and started slam_toolbox.
ros2 launch hsrb_mapping slam_toolbox_mapping.launch.py
Then I started rviz and tried to create a map, but it failed to create it and said "no map recived".

I checked the active topics with the following command.
ros2 topic list
According to it, the base_link topic was not active.
Therefore Rviz cannot get the sensor infomation.
How can I make the base_link topic active?
Please advise.

I am trying the MoveIt demo by using simulator. HSR in Gazebo hops abnormally.
Is there something wrong? How can I fix it?

Please see the linked video.

https://drive.google.com/file/d/1Hdsg1Qb3QVCVd3vdNc9-IqY4Cps98m-Y/view?usp=sharing

I am running actual robot of HSR and trying navigation with ROS2 foxy.

I have ran navigation by the following documentation: hsrb_rosnav_config

I run the following command:

ros2 launch hsrb_rosnav_config navigation_launch.py map:=/full/path/to/map.yaml

And when I specify 2D Pose Estimate, I can only do path planning.

I get an the following error on the command line:

[controller_server-1] [INFO] [1711077602.065240930] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[controller_server-1] [INFO] [1711077602.076080318] [controller_server]: Received a goal, begin computing control effort.
[controller_server-1] [INFO] [1711077602.426512054] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1711077603.426505040] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1711077604.476500892] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1711077605.526497582] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1711077606.576501000] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1711077607.576501680] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1711077608.626503445] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1711077609.676499406] [controller_server]: Passing new path to controller.
[controller_server-1] [INFO] [1711077610.676499838] [controller_server]: Passing new path to controller.
[planner_server-2] [WARN] [1711077611.494322610] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[controller_server-1] [INFO] [1711077611.726506327] [controller_server]: Passing new path to controller.
[controller_server-1] [ERROR] [1711077612.076564900] [controller_server]: Failed to make progress
[controller_server-1] [WARN] [1711077612.076722094] [controller_server_rclcpp_node]: [follow_path] [ActionServer] Aborting handle.
[controller_server-1] [INFO] [1711077612.095229289] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap
[planner_server-2] [INFO] [1711077612.095798248] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap
[recoveries_server-3] [INFO] [1711077612.106158884] [recoveries_server]: Attempting spin
[recoveries_server-3] [INFO] [1711077612.108650991] [recoveries_server]: Turning 1.57 for spin recovery.
[recoveries_server-3] [INFO] [1711077613.109627457] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077614.109668319] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077615.109801359] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077616.109621440] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077617.109543970] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077618.109549229] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077619.109580373] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077620.109509738] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077621.109508454] [recoveries_server]: spin running...
[planner_server-2] [WARN] [1711077621.494320460] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[recoveries_server-3] [INFO] [1711077622.109489899] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077623.109482526] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077624.109472705] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077625.109478057] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077626.109443989] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077627.109607907] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077628.109431126] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077629.109421072] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077630.109395034] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077631.109610792] [recoveries_server]: spin running...
[planner_server-2] [WARN] [1711077631.494403856] [global_costmap.global_costmap]: Can't update static costmap layer, no map received
[recoveries_server-3] [INFO] [1711077632.109605338] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077633.109395948] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077634.109377382] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077635.109327999] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077636.109466975] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077637.109356273] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077638.109911714] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077639.109350267] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077640.109315493] [recoveries_server]: spin running...
[recoveries_server-3] [INFO] [1711077641.109405172] [recoveries_server]: spin running...
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[lifecycle_manager-9] [INFO] [1711077657.417588109] [rclcpp]: signal_handler(signal_value=2)
[map_server-7] [INFO] [1711077657.417591599] [rclcpp]: signal_handler(signal_value=2)
[waypoint_follower-5] [INFO] [1711077657.417611664] [rclcpp]: signal_handler(signal_value=2)
[recoveries_server-3] [INFO] [1711077657.417624477] [rclcpp]: signal_handler(signal_value=2)
[lifecycle_manager-6] [INFO] [1711077657.417642972] [rclcpp]: signal_handler(signal_value=2)
[controller_server-1] [INFO] [1711077657.417646982] [rclcpp]: signal_handler(signal_value=2)
[bt_navigator-4] [INFO] [1711077657.417703273] [rclcpp]: signal_handler(signal_value=2)
[bt_navigator-4] [ERROR] [1711077657.418931201] [bt_navigator]: Action server failed while executing action callback: "Failed to create interrupt guard condition in Executor constructor: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/guard_condition.c:67"
[bt_navigator-4] [WARN] [1711077657.418956192] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.
[bt_navigator-4] [INFO] [1711077657.421430445] [bt_navigator]: Destroying
[planner_server-2] [INFO] [1711077657.417755857] [rclcpp]: signal_handler(signal_value=2)
[INFO] [recoveries_server-3]: process has finished cleanly [pid 229568]
[INFO] [planner_server-2]: process has finished cleanly [pid 229566]
[amcl-8] [INFO] [1711077657.417774824] [rclcpp]: signal_handler(signal_value=2)
[INFO] [controller_server-1]: process has finished cleanly [pid 229564]
[map_server-7] [INFO] [1711077657.418754448] [map_server]: Destroying
[recoveries_server-3] [WARN] [1711077657.419306881] [recoveries_server]: [spin] [ActionServer] Current goal was not completed successfully.
[recoveries_server-3] [WARN] [1711077657.419339355] [recoveries_server]: [spin] [ActionServer] Aborting handle.
[lifecycle_manager-6] [INFO] [1711077657.425754777] [lifecycle_manager_navigation]: Destroying
[amcl-8] [INFO] [1711077657.426371525] [amcl]: Destroying
[lifecycle_manager-9] [INFO] [1711077657.426598087] [lifecycle_manager_localization]: Destroying
[waypoint_follower-5] [INFO] [1711077657.427229596] [waypoint_follower]: Destroying
[ERROR] [bt_navigator-4]: process has died [pid 229571, exit code -6, cmd '/opt/ros/foxy/lib/nav2_bt_navigator/bt_navigator --ros-args -r __node:=bt_navigator --params-file /tmp/tmp27jgxwzu -r /tf:=tf -r /tf_static:=tf_static'].
[INFO] [lifecycle_manager-9]: process has finished cleanly [pid 229609]
[INFO] [amcl-8]: process has finished cleanly [pid 229606]
[INFO] [lifecycle_manager-6]: process has finished cleanly [pid 229595]
[INFO] [map_server-7]: process has finished cleanly [pid 229601]
[bt_navigator-4] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[bt_navigator-4] what(): Failed to create interrupt guard condition in Executor constructor: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/guard_condition.c:67
[INFO] [waypoint_follower-5]: process has finished cleanly [pid 229592]

I am trying to install according to the "Actual Robot" section, and I needed to run the following command to resolve the rosdep error.

sudo apt install ros-foxy-xacro ros-foxy-camera-info-manager ros-foxy-usb-cam \
ros-foxy-transmission-interface ros-foxy-realtime-tools ros-foxy-joint-trajectory-controller \
ros-foxy-joint-state-publisher-gui ros-foxy-urg-node ros-foxy-joint-state-broadcaster \
ros-foxy-depth-image-proc ros-foxy-controller-manager

After that, I then executed colcon build, but got the following error

--- stderr: openni2_camera             
CMake Error at CMakeLists.txt:73 (rosidl_get_typesupport_target):
  Unknown CMake command "rosidl_get_typesupport_target".

It seems that rosidl_get_typesupport_target is not available in ROS Foxy.
I changed the relevant part of CMakeLists.txt as follows.

# rosidl_get_typesupport_target(cpp_typesupport_target
#   ${PROJECT_NAME} "rosidl_typesupport_cpp")
# target_link_libraries(openni2_camera_lib "${cpp_typesupport_target}")
rosidl_target_interfaces(openni2_camera_lib
  ${PROJECT_NAME} "rosidl_typesupport_cpp")

After the above correction, I faced the following error

--- stderr: openni2_camera                               
/home/masutani/hsr_ros2_ws/openni2_camera/openni2_camera/src/openni2_device_manager.cpp: In member function 'virtual void openni2_wrapper::OpenNI2DeviceListener::onDeviceConnected(const openni::DeviceInfo*)':
/home/masutani/hsr_ros2_ws/openni2_camera/openni2_camera/src/openni2_device_manager.cpp:109:21: error: missing template arguments before 'l'
  109 |     std::lock_guard l(device_mutex_);
      |                     ^

omitting the rest

Argument deduction of C++ class templates can be used only since C++17.
So I changed CMakeLists.txt as follows

if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

Then the build was complete.

Are the above solutions correct? How did other people deal with these problems?

Furthermore, openni2_camera is not developed by HSR project. What should we do?

I am running a simulation of HSR according to https://github.com/hsr-project/hsr_ros2_doc.

I cannot see the map on Rviz.
I tried navigation by running the following command.
ros2 launch hsrb_rosnav_config navigation_launch.py map:=~/hsr_project/hsrb_rosnav/hsrb_mapping/maps/wrs2020/map.yaml

After that, Rviz showed "no map recived" when I started it.

I checked the topic.
And then I found that both map_server and /map were up.

Am I doing something wrong?
Please advise if you know how to do navigation.

I am trying to run ROS2 foxy on actual robot of HSR.
I built the environment according to hsr_ros2_doc.

I brought up HSR by entering the following command:
ros2 launch hsrb_bringup hsrb.launch.py

And I got an error "Controller manager not available".

Does anyone know anything about this issue?

HSR in Gazebo for /omni_base_controller/command_velocity topic is very strange.

To clarify the issue, after launching the simulation, I ran the following command on another terminal in case of linear.x = 1.0.

ros2 topic pub -r 10 -t 50 /omni_base_controller/command_velocity geometry_msgs/msg/Twist "{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0 , z: 0.0}}"

Result:

• linear.x = 1.0 : moves forward (normal?)
• linear.x = -1.0: moves backward and then turn
• linear.y = 1.0 : turns left backward 90 degrees, then moves sideways
• angular.z = 1.0: No movement at all

See screencast for linear.y = 1.0.
https://drive.google.com/file/d/1-8tSIVygn3Aq7K3vI5kEcAj2Co07CGmu/view?usp=sharing

How can I solve this problem?
Has anyone else encountered this problem?

This issue is a rewrite of #12 and #13 .

I am running actual robot of HSR and trying navigation according to hsrb_rosnav_config.

HSR can plan the path, but cannot move independently.

Here are the details.

I am running HSR in the following environment:
Ubuntu 20.04.6 LTS
ROS foxy

I built the environment according to the section of Actual Robot in hsr_ros2_doc.

I run navigation is done in the following steps.

1. bringup HSR
2. launch Rviz
3. autonomous movement

First, power on HSR and stop docker on ROS1.
Then bringup HSR by entering the following command:

ros2 launch hsrb_bringup hsrb.launch.py

Next, launch Rviz by entering the following command:

ros2 launch hsrb_rosnav_config nav_rviz.launch.py

We create a launch file nav_rviz.launch.py in the hsrb_rosnav_config package.

import os
from ament_index_python.packages import get_package_share_directory
import launch
from launch import LaunchDescription
from launch.substitutions import (
    Command,
    FindExecutable,
    LaunchConfiguration,
    PathJoinSubstitution,
)
from launch_ros.substitutions import FindPackageShare

from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument

from launch.substitutions import LaunchConfiguration
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource

def declare_arguments():
    declared_arguments = []
    declared_arguments.append(
        DeclareLaunchArgument('description_package',
                              default_value='hsrb_description',
                              description='Description package with robot URDF/xacro files.'))
    declared_arguments.append(
        DeclareLaunchArgument('description_file',
                              default_value='hsrb4s.urdf.xacro',
                              description='URDF/XACRO description file with the robot.'))
    return declared_arguments

def generate_launch_description():

    package_dir = get_package_share_directory("hsrb_rosnav_config")
    
    description_package = LaunchConfiguration('description_package')
    description_file = LaunchConfiguration('description_file')
    robot_description_content = Command(
        [PathJoinSubstitution([FindExecutable(name='xacro')]), 
         ' ', 
         PathJoinSubstitution([FindPackageShare(description_package), 
                               'robots', 
                               description_file])
         ])
    robot_description = {'robot_description': robot_description_content}
    
    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
    rviz = os.path.join(package_dir, "rviz" , "hsr_navigation.rviz")
    ekf_path = os.path.join(package_dir, "config", 'nav2_params.yaml')


    return LaunchDescription(declare_arguments() + [
        launch.actions.DeclareLaunchArgument(name='gui', default_value='True',
                                             description='Flag to enable joint_state_publisher_gui'),

        Node(
            package='robot_localization',
            executable='ekf_node',
            name='ekf_filter_node',
            output='screen',
            parameters=[ekf_path, {'use_sim_time': use_sim_time}]
            ),

        Node(
            package='rviz2',
            executable='rviz2',
            name='rviz2',
            arguments=['-d', rviz],
            parameters=[{'use_sim_time': use_sim_time}],
            output='screen'),
    ])

Then, launch the program of autonomous movement by entering the following command:

ros2 launch hsrb_rosnav_config navigation_launch.py map:=/full/path/to/map.yaml

After that, specify 2D Pose Estimate and Navigation2 Goal.

State after specify Navigation2 Goal:

• HSR does not move independently after path planning
• The error is displayed

The error says that
[global_costmap.global_costmap]: Can't update static costmap layer, no map received.

I believe that HSR cannot estimate self-location for global_costmap because global_costmap is not updated.

Therefore, when I specify 2D Pose Estimate outside the map, HSR seems to estimate self-location only for local_costmap.

I am running the actual robot of HSR and trying to close its gripper.

I built the environment according to the section of Actual Robot in hsr_ros2_doc

I launch moveit by entering the following command:

ros2 launch hsrb_moveit_config hsrb_demo.launch.py

Then I try to specify hand_morter_joint and run "Plan & Execute" on Rviz.
Please watch the following video:

But gripper does not close.
When I specify a value of hand_morter_joint smaller than -7°, the gripper does not work.

How can I close the gripper?

I am trying to run HSR in a ROS2 environment according to hsr_ros2_doc.

in Case: HSR-B

cd ~/hsr_ros2_ws
source install/setup.bash
ros2 launch hsrb_gazebo_bringup spawn_hsrb.launch.py
It worked fine.

in Case:HSR-C
The following error message is displayed and the program terminates abnormally

roboworks@MacBookPro:~$ ros2 launch hsrb_gazebo_bringup spawn_hsrc.launch.py
[INFO] [launch]: All log files can be found below /home/roboworks/.ros/log/2023-06-15-07-44-09-046127-MacBookPro-12354
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=TypeError('Unable to parse the value of parameter robot_description as yaml. If the parameter is meant to be a string, try wrapping it in launch_ros.parameter_descriptions.ParameterValue(value, value_type=str)')>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 78, in evaluate_parameter_dict
yaml_evaluated_value = yaml.safe_load(evaluated_value)
File "/usr/lib/python3/dist-packages/yaml/init.py", line 162, in safe_load
return load(stream, SafeLoader)
File "/usr/lib/python3/dist-packages/yaml/init.py", line 114, in load
return loader.get_single_data()
File "/usr/lib/python3/dist-packages/yaml/constructor.py", line 49, in get_single_data
node = self.get_single_node()
File "/usr/lib/python3/dist-packages/yaml/composer.py", line 36, in get_single_node
document = self.compose_document()
File "/usr/lib/python3/dist-packages/yaml/composer.py", line 58, in compose_document
self.get_event()
File "/usr/lib/python3/dist-packages/yaml/parser.py", line 118, in get_event
self.current_event = self.state()
File "/usr/lib/python3/dist-packages/yaml/parser.py", line 193, in parse_document_end
token = self.peek_token()
File "/usr/lib/python3/dist-packages/yaml/scanner.py", line 129, in peek_token
self.fetch_more_tokens()
File "/usr/lib/python3/dist-packages/yaml/scanner.py", line 223, in fetch_more_tokens
return self.fetch_value()
File "/usr/lib/python3/dist-packages/yaml/scanner.py", line 577, in fetch_value
raise ScannerError(None, None,
yaml.scanner.ScannerError: mapping values are not allowed here
in "", line 11, column 75:
... the following conditions are met:
^

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
[Previous line repeated 3 more times]
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 444, in execute
self._perform_substitutions(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 399, in _perform_substitutions
evaluated_parameters = evaluate_parameters(context, self.__parameters)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 164, in evaluate_parameters
output_params.append(evaluate_parameter_dict(context, param))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 80, in evaluate_parameter_dict
raise TypeError(
TypeError: Unable to parse the value of parameter robot_description as yaml. If the parameter is meant to be a string, try wrapping it in launch_ros.parameter_descriptions.ParameterValue(value, value_type=str)
Task exception was never retrieved
future: <Task finished name='Task-8' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=RuntimeError('Signal event received before subprocess transport available.')>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/opaque_function.py", line 75, in execute
return self.__function(context, *self.__args, **self.__kwargs)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/execute_process.py", line 443, in __on_signal_process_event
raise RuntimeError('Signal event received before subprocess transport available.')
RuntimeError: Signal event received before subprocess transport available.
[INFO] [joint_state_publisher-1]: process started with pid [12357]
[joint_state_publisher-1] [INFO] [1686782650.225422729] [whole_body.joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[ERROR] [joint_state_publisher-1]: process[joint_state_publisher-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [joint_state_publisher-1]: sending signal 'SIGTERM' to process[joint_state_publisher-1]
[ERROR] [joint_state_publisher-1]: process has died [pid 12357, exit code -15, cmd '/opt/ros/foxy/lib/joint_state_publisher/joint_state_publisher --ros-args -r __ns:=/whole_body --params-file /tmp/launch_params_y3d8up06 -r robot_description:=/robot_description'].

The ros2_control_node problem may be solved, but the problem of hsrb.launch.py still remains. usb_cam_node_exe for hand_camera and head_center_camera died.

Here is the relevant part of the launch message.

[usb_cam_node_exe-12] [INFO] [1707468985.015891484] [hand_camera.driver]: camera_name value: hand_camera
[usb_cam_node_exe-12] [WARN] [1707468985.016022016] [hand_camera.driver]: framerate: 30.000000
[usb_cam_node_exe-12] [INFO] [1707468985.018087916] [hand_camera.driver]: using default calibration URL
[usb_cam_node_exe-12] [INFO] [1707468985.018138100] [hand_camera.driver]: camera calibration URL: file:///home/masutani/.ros/camera_info/hand_camera.yaml
[usb_cam_node_exe-12] [ERROR] [1707468985.018219337] [camera_calibration_parsers]: Unable to open camera calibration file [/home/masutani/.ros/camera_info/hand_camera.yaml]
[usb_cam_node_exe-12] [WARN] [1707468985.018238377] [hand_camera.driver]: Camera calibration file /home/masutani/.ros/camera_info/hand_camera.yaml not found
[usb_cam_node_exe-12] [INFO] [1707468985.020583571] [hand_camera.driver]: Starting 'hand_camera' (/dev/hand_camera) at 640x480 via mmap (yuyv) at 30 FPS
[usb_cam_node_exe-12] terminate called after throwing an instance of 'char*'
[ERROR] [usb_cam_node_exe-12]: process has died [pid 10249, exit code -6, cmd '/opt/ros/foxy/lib/usb_cam/usb_cam_node_exe --ros-args -r __node:=driver -r __ns:=/hand_camera --params-file /home/masutani/hsr_ros2_ws/install/hsrb_bringup/share/hsrb_bringup/config/hand_camera.yaml'].
[usb_cam_node_exe-11] [INFO] [1707468985.045078361] [head_center_camera.driver]: camera_name value: head_center_camera
[usb_cam_node_exe-11] [WARN] [1707468985.045209959] [head_center_camera.driver]: framerate: 30.000000
[usb_cam_node_exe-11] [INFO] [1707468985.049506841] [head_center_camera.driver]: using default calibration URL
[usb_cam_node_exe-11] [INFO] [1707468985.049567971] [head_center_camera.driver]: camera calibration URL: file:///home/masutani/.ros/camera_info/head_center_camera.yaml
[usb_cam_node_exe-11] [ERROR] [1707468985.049653910] [camera_calibration_parsers]: Unable to open camera calibration file [/home/masutani/.ros/camera_info/head_center_camera.yaml]
[usb_cam_node_exe-11] [WARN] [1707468985.049673671] [head_center_camera.driver]: Camera calibration file /home/masutani/.ros/camera_info/head_center_camera.yaml not found
[usb_cam_node_exe-11] [INFO] [1707468985.049705863] [head_center_camera.driver]: Starting 'head_center_camera' (/dev/head_center_camera) at 640x480 via mmap (yuyv) at 30 FPS
[usb_cam_node_exe-11] terminate called after throwing an instance of 'char*'
[ERROR] [usb_cam_node_exe-11]: process has died [pid 10236, exit code -6, cmd '/opt/ros/foxy/lib/usb_cam/usb_cam_node_exe --ros-args -r __node:=driver -r __ns:=/head_center_camera --params-file /home/masutani/hsr_ros2_ws/install/hsrb_bringup/share/hsrb_bringup/config/head_center_camera.yaml'].

There is no calibration data in hsrb_bringup/config/hand_camera.yaml and hsrb_bringup/config/head_center_camera.yaml.

Where are the calibration files for these cameras?