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I noticed that Linorobot1 supported Ackermann steering.

This has just been merged into ROS2 Control: https://github.com/ros-controls/ros2_controllers/tree/master/tricycle_controller would that help with adding Ackermann to Linorobot2?

ubuntu@ubuntu:~$ ros2 launch ydlidar_ros2_driver ydlidar_launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2022-04-11-19-57-04-174823-ubuntu-3782
[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/galactic/lib/python3.8/site-packages/launch/launch_service.py:226> exception=InvalidLaunchFileError('py')>
Traceback (most recent call last):
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 53, in get_launch_description_from_any_launch_file
return loader(launch_file_path)
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
return getattr(launch_file_module, 'generate_launch_description')()
File "/home/ubuntu/lino3_ws/install/ydlidar_ros2_driver/share/ydlidar_ros2_driver/launch/ydlidar_launch.py", line 38, in generate_launch_description
driver_node = LifecycleNode(package='ydlidar_ros2_driver',
TypeError: init() missing 2 required keyword-only arguments: 'name' and 'namespace'

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/galactic/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/galactic/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/galactic/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/galactic/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/galactic/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/actions/include_launch_description.py", line 127, in execute
launch_description = self.__launch_description_source.get_launch_description(context)
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
self._get_launch_description(self.__expanded_location)
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_description_source.py", line 53, in _get_launch_description
return get_launch_description_from_any_launch_file(location)
File "/opt/ros/galactic/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 56, in get_launch_description_from_any_launch_file
raise InvalidLaunchFileError(extension, likely_errors=exceptions)
launch.invalid_launch_file_error.InvalidLaunchFileError: Caught exception when trying to load file of format [py]: init() missing 2 required keyword-only arguments: 'name' and 'namespace'
ubuntu@ubuntu:~$

This attempt was with screen and keyboard connected. Raspberry Pi and Ubuntu 20.04
This editor removed underlines around last "init"

bt_navigator-7] [ERROR] [1637145018.446545161] [bt_navigator]: Action server failed while executing action callback: "send_goal failed" [bt_navigator-7] [WARN] [1637145018.446705291] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle. [controller_server-4] [INFO] [1637145018.470105004] [controller_server]: Passing new path to controller. [waypoint_follower-8] [WARN] [1637145019.078624924] [waypoint_follower]: Failed to process waypoint 0 in waypoint list and stop on failure is enabled. Terminating action. [waypoint_follower-8] [WARN] [1637145019.078847924] [waypoint_follower]: [FollowWaypoints] [ActionServer] Aborting handle. [controller_server-4] [ERROR] [1637145026.420263585] [controller_server]: Failed to make progress [controller_server-4] [WARN] [1637145026.420737567] [controller_server_rclcpp_node]: [follow_path] [ActionServer] Aborting handle.
this is the error I'm getting sometime when try to run waypoint follower.
navigation failed.
is it possible to save multiple waypoints. waypoints

When I use "ros2 launch linorobot2_navigation navigation.launch.py", it turns out this output "[waypoint_follower-8] [FATAL] [1646652552.515721013] [waypoint_follower]: Can not get 'plugin' param value for wait_at_waypoint
[ERROR] [waypoint_follower-8]: process has died [pid 57803, exit code 255, cmd '/opt/ros/galactic/lib/nav2_waypoint_follower/waypoint_follower --ros-args -r __node:=waypoint_follower --params-file /tmp/tmps86t6qm3 -r /tf:=tf -r /tf_static:=tf_static']."
It seems that the params of waypoint_follower are wrong, I got this answer from google, this maybe because the navigation version is a little bit old when you develop......
I'm using navigation2 and ros2 galactic.

i wonder which OS to install on raspberry pi 3b+ ?
i think of:

• Ubuntu Server 20.04.3 LTS - https://ubuntu.com/download/raspberry-pi - 32-bit or 64-bit ,
• ubuntu mate https://ubuntu-mate.org/raspberry-pi/ - armhf (ARMv7 32-bit) and arm64 (ARMv8 64-bit) ,
• Raspbian ?

What do you recommend and best suits to ROS2 ?

Hello, I am running Linorobot2 on Mecanum, NVIDIA Jetson computer with Teensy 4.1.

When my robot is stuck in a corner, I see it enters the recovery tree and does the spin and wait actions; however it has never performed the backup function and as a result it usually ends up aborting after a few tries and I have to restart the entire navigation stack.

1. Based on the Nav2 documentation it looks all pretty default for the parameters for recovery server so not sure why it wont try backup when it tries spin and wait pretty well

2. If it does abort is there any reason that I need to completely restart the entire Nav stack, rather than it being able to accept a new goal?

A couple points on the install

1. user should run any sudo command before the bash install_linorobot2.bash xwd etc etc to make sure the sudo password is cached
2. user should also run sudo rosdep update if they haven't already loaded that, or the install fails part way through
3. the rosdep update script fails with

updated cache in /home/blm/.ros/rosdep/sources.cache ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: linorobot2_bringup: Cannot locate rosdep definition for [micro_ros_agent]

This was on a fairly vanilla ros2 humble install Ubuntu 22.04 AMD64. Due to the previous fails on steps 1 & 2, it may be that running the install again was an issue but I had deleted all previous workspaces and the repository directory.

Hi,

is it possible to use ODrive driver with linorobot ?

Thankyou..

.

Error while launching bringup:

[joint_state_publisher-3] Traceback (most recent call last): [joint_state_publisher-3] File "/opt/ros/galactic/lib/joint_state_publisher/joint_state_publisher", line 11, in <module> [joint_state_publisher-3] load_entry_point('joint-state-publisher==2.2.0', 'console_scripts', 'joint_state_publisher')() [joint_state_publisher-3] File "/opt/ros/galactic/lib/python3.8/site-packages/joint_state_publisher/joint_state_publisher.py", line 415, in main [joint_state_publisher-3] jsp = JointStatePublisher(parsed_args.urdf_file) [joint_state_publisher-3] File "/opt/ros/galactic/lib/python3.8/site-packages/joint_state_publisher/joint_state_publisher.py", line 217, in __init__ [joint_state_publisher-3] super().__init__('joint_state_publisher', automatically_declare_parameters_from_overrides=True) [joint_state_publisher-3] File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/node.py", line 216, in __init__ [joint_state_publisher-3] self.declare_parameters( [joint_state_publisher-3] File "/opt/ros/galactic/lib/python3.8/site-packages/rclpy/node.py", line 487, in declare_parameters [joint_state_publisher-3] raise ParameterAlreadyDeclaredException(parameters_already_declared) [joint_state_publisher-3] rclpy.exceptions.ParameterAlreadyDeclaredException: ('Parameter(s) already declared', ['use_sim_time']) [ERROR] [joint_state_publisher-3]: process has died [pid 11733, exit code 1, cmd '/opt/ros/galactic/lib/joint_state_publisher/joint_state_publisher --ros-args -r __node:=joint_state_publisher --params-file /tmp/launch_params_5pd3ox71'].

https://githubplus.com/ros2/rclpy/issues/948

Error is caused by the parameters "use_sim_time" in desciption.launch.py,:

` Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
condition=IfCondition(LaunchConfiguration("publish_joints")),
parameters=[
{'use_sim_time': LaunchConfiguration('use_sim_time')}
]
),

`
Removing
,parameters=[
{'use_sim_time': LaunchConfiguration('use_sim_time')}
]

Fixes the ERROR but might not be the correct way to fix this issue.

Best regards Kim

$ ros2 launch linorobot2_description description.launch.py rviz:=true
I can see my robot.

But, When I doing slam.
$ ros2 launch linorobot2_navigation slam.launch.py rviz:=true sim:=true

There are no RobotModel base_footprint and base_link else.
But, I can see these when I
$ ros2 launch linorobot2_description description.launch.py rviz:=true

Also, I [slam_toolbox]: Message Filter dropping message: frame 'laser'
So I try follow this.

Try to up transform_timeout by 0.1 in linorobot2_navigation/config/slam.yaml until the warning is gone.

But, I this Message keep showing.

Please help me.

I am getting stuck at the "Visualize the newly created URDF" portion. I am able to edit my description file and colcon build, but then when I launch via robot computer I get stuck at attached screen.

Further steps like launching robot and conctrolling via keyboard works, but URDF and SLAM all get stuck waiting for this robot_description topic.

"joint_state_publisher: Waiting for robot_description to be published on the robot_description topic"

Any ideas on a resolution, been looking up for a while and reinstalled joint state publisher with no luck. My RVIZ on host computer comes up but is empty and I see the robot_description as an unvisualizable topic.

Thanks

Hi There,

thanks for doing so much for the hobbyist community, i'm a fan!

as this would be an awesome christmas project, in preparation of building the actual 4wd real thing, i wanted to exercise and play around in gazebo.
As i'm going through the installation when i get to point 2.1, after running "rosdep update && rosdep install ...." when i type colcon build i get the following error.

I'm currently running ROS2 Galactic.

Any help would be greatly appreciated.

Thanks

Dell laptop / Windows 10 / Windows Subsystem for Linux (WSL) - Ubuntu 22.04.
I get this error:

ubuntu@HankRearden:~/linorobot2_ws$ colcon build --symlink-install

Starting >>> linorobot2
Starting >>> linorobot2_base
Starting >>> linorobot2_bringup
Starting >>> linorobot2_description
Starting >>> linorobot2_gazebo
Starting >>> linorobot2_navigation
--- stderr: linorobot2_gazebo
failed to create symbolic link '/home/ubuntu/linorobot2_ws/build/linorobot2_gazebo/ament_cmake_python/scripts/scripts' because existing path cannot be removed: Is a directory
gmake[2]: *** [CMakeFiles/ament_cmake_python_symlink_scripts.dir/build.make:70: CMakeFiles/ament_cmake_python_symlink_scripts] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:138: CMakeFiles/ament_cmake_python_symlink_scripts.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

Failed <<< linorobot2_gazebo [0.43s, exited with code 2]
Aborted <<< linorobot2 [0.46s]
Aborted <<< linorobot2_base [0.47s]
Aborted <<< linorobot2_bringup [0.50s]
Aborted <<< linorobot2_navigation [0.49s]
Aborted <<< linorobot2_description [0.58s]

Summary: 0 packages finished [0.73s]
1 package failed: linorobot2_gazebo
5 packages aborted: linorobot2 linorobot2_base linorobot2_bringup linorobot2_description linorobot2_navigation
1 package had stderr output: linorobot2_gazebo`

Is this a failure of Gazebo build or that I included "--symlink-install"?
I get the same error if I do "colcon build" without it.

[controller_server-4] [WARN] [1637133198.283893186] [controller_server_rclcpp_node]: [follow_path] [ActionServer] Aborting handle. [controller_server-4] [INFO] [1637133198.298370193] [local_costmap.local_costmap]: Received request to clear entirely the local_costmap [planner_server-5] [INFO] [1637133198.300156006] [global_costmap.global_costmap]: Received request to clear entirely the global_costmap [recoveries_server-6] [INFO] [1637133198.308005630] [recoveries_server]: Attempting spin [recoveries_server-6] [INFO] [1637133198.308246148] [recoveries_server]: Turning 1.57 for spin recovery. [recoveries_server-6] [INFO] [1637133199.308582365] [recoveries_server]: spin running... [recoveries_server-6] [INFO] [1637133200.308570355] [recoveries_server]: spin running... [recoveries_server-6] [INFO] [1637133201.308657821] [recoveries_server]: spin running... [recoveries_server-6] [INFO] [1637133202.308565246] [recoveries_server]: spin running... [recoveries_server-6] [INFO] [1637133203.308501221] [recoveries_server]: spin running... [recoveries_server-6] [INFO] [1637133203.308973091] [recoveries_server]: spin completed successfully [recoveries_server-6] [INFO] [1637133203.339292303] [recoveries_server]: Attempting wait [recoveries_server-6] [INFO] [1637133204.339663532] [recoveries_server]: wait running... [recoveries_server-6] [INFO] [1637133205.339694033] [recoveries_server]: wait running...

As per title i've almost finished the build of a 6 wheels rover, rocker bogie joint and the whole shabam.
Quite an interesting project, and after the failed SpotMini [which i'm planning to go back on sometime in the future] i think i'm very close to the finish line with this one.
The one thing though, as it is an adaptation i've decided to simplify it a bit, by not adding the 4 rotating front and back wheels, i've preferred a simpler setup.

I was very eager to make this project autonomous, and after finding linorobot, i thought it would have been easier, the problem is that you've only designed this for 2 or 4 wheels; is there a way to make it 6?

Appreciate any help that you can supply.

BR
Vittorio

I have my new Ros2 setup and no communication is happening between the linorobot and the host. ( Even a simple talker to listener test is not working. Is there any router set up required ( my router is a Bell Home Hub 3000) and does not seem to have any menu related to DDS settings ?

HI Grassjelly,

when running "install_linorobot_2.bash" i get the following error

install_linorobot2.bash: line 62: cd: YDLidar-SDK/build: No such file or directory

i've also modified line 18 from ROSDISTRO="$(rosversion -d)" to ROSDISTRO="$(echo $ROS_DISTRO)" as otherwise it wouldn't recognize the distro version.

I've checked on YDLidar github, and the "build" folder is not longer there.

Any suggestion?

I want to ask if the two urdf files are the same.... I felt no difference except the depth sensor pose....QAQ

I'm not using depth sensor.

[ekf_node-2] Warning: Invalid frame ID "base_footprint" passed to canTransform argument target_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "base_footprint" passed to canTransform argument target_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "imu_link" passed to canTransform argument source_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "imu_link" passed to canTransform argument source_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "imu_link" passed to canTransform argument source_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp [ekf_node-2] Warning: Invalid frame ID "imu_link" passed to canTransform argument source_frame - frame does not exist [ekf_node-2] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.12/src/buffer_core.cpp

Say, can we just change the constants in the config file and Linorobot2 loads the new values each time we restart it? Or must we go through the firmware recompile function to update the PID values? Thanks for a great repo!

https://youtu.be/ySz0iJIMnpU

This is occurring when I am trying to visualize the URDF on host computer.

At this same time, the robot computer is stuck at the below status:

joint_state_publisher: Waiting for robot_description to be published on the robot_description topic

Hi,
Could you tell me if the addition of the OAK-D lite camera is planned in a next version?

Regards,
JEFF

Issue Summary

Hi, I'm new to ROS2 and I'm trying to run the mecanum robot simulated in gazebo and with SLAM. However I get an error when trying to see the RobotModel in RViz.

Issue Details

I followed the README, first using the linorobot2_desciption launch and i could see the RobotModel perfectly in Rviz. Then i used the linorobot_gazebo launch and everithing worked (i even moved the robot with the teleop package). But when i tried linorobot_navigation slam.launch.py with rviz:=true i got the following warning:

[rviz2-2] Warning: Invalid frame ID "front_left_wheel_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-2]          at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "front_right_wheel_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-2]          at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "rear_left_wheel_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-2]          at line 93 in ./src/buffer_core.cpp
[rviz2-2] Warning: Invalid frame ID "rear_right_wheel_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-2]          at line 93 in ./src/buffer_core.cpp

and the following error in Rviz:

Steps to Reproduce

1. In one terminal I run ros2 launch linorobot2_gazebo gazebo.launch.py
2. Then, in another terminal I run ros2 launch linorobot2_navigation slam.launch.py rviz:=true sim:=true

System Information

• Operating System: e.g. Ubuntu 22.04
• ROS Version: ROS2 Humble
• Linorobot2 Version: linorobot2 (humble branch)

Additional Information

Despite the error the mapping works.

I noticed that the TF tree did not have tfs for the wheels. Upon some reasearch i found that usually the joint_state_publisher node is used for that purpose. So I changed the publish_joints argument from false to true in:

        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(description_launch_path),
            launch_arguments={
                'use_sim_time': str(use_sim_time),
                'publish_joints': 'false',
            }.items()
        ),

in the gazebo.launch.py file and was able to see the robot model in Rviz (i also had to change the fixed frame from map to base_link despite the TF tree being as shown below).

hello grassjelly,

• when i launch ros2 launch linorobot2_navigation slam.launch.py rviz:=true sim:=true

to map the room, the robot model in rviz doesn't move at all.

• is that the map error is something to do with laser pose in urdf file.

• also base_link has 7 children node

• camera_link has 1 children node

• remaining all imu and wheels have o children node is it ok.

I need to set delay when waypoint goal is reached once.
There is plugins available how to execute those plugins.

which would be wrong is it motor calibration.

Linorobot also has Ackermann steering support - any plans to add this to ROS2?

The linorobot2 installer failed because there is no realsense2 package for galactic, only for foxy. After the hiccup, I ran the commands from the installer file one by one in terminal window, and it seemed to install OK.
It wasn't easy to determine if command should be run from linorobot2_ws/src or not!
I'm using Raspi 4 with 4 Gig, 4wd, ydlidar, and realsense.
Juan, thanks for all your hard work putting this together!

There was another error:
HEAD is now at eb322062 Bump version to 1.9.2
/home/ubuntu/linorobot2_ws/src/uros/micro-ROS-Agent/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp: In member function ‘void uros::agent::graph_manager::GraphManager::update_node_entities_info()’:
/home/ubuntu/linorobot2_ws/src/uros/micro-ROS-Agent/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp:584:86: error: ‘ALIVE’ is not a member of ‘eprosima::fastdds::dds::InstanceStateKind’
584 | if (sample_info.instance_state == eprosima::fastdds::dds::InstanceStateKind::ALIVE)
| ^~~~~
In file included from /home/ubuntu/linorobot2_ws/src/uros/micro-ROS-Agent/micro_ros_agent/include/agent/graph_manager/graph_manager.hpp:46,
from /home/ubuntu/linorobot2_ws/src/uros/micro-ROS-Agent/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp:18:
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp: In instantiation of ‘void dds_qos_to_rmw_qos(const DDSQoSPolicyT&, rmw_qos_profile_t*) [with DDSQoSPolicyT = eprosima::fastdds::dds::WriterQos; rmw_qos_profile_t = rmw_qos_profile_t]’:
/home/ubuntu/linorobot2_ws/src/uros/micro-ROS-Agent/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp:391:48: required from here
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp:68:19: error: ‘const class eprosima::fastdds::dds::WriterQos’ has no member named ‘reliability’; did you mean ‘m_reliability’?
68 | switch (dds_qos.reliability().kind) {
| ~~~~~~~~^~~~~~~~~~~
| m_reliability
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp:80:19: error: ‘const class eprosima::fastdds::dds::WriterQos’ has no member named ‘durability’; did you mean ‘m_durability’?
80 | switch (dds_qos.durability().kind) {
| ~~~~~~~~^~~~~~~~~~
| m_durability
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp:92:47: error: ‘const class eprosima::fastdds::dds::WriterQos’ has no member named ‘deadline’; did you mean ‘m_deadline’?
92 | qos->deadline = dds_duration_to_rmw(dds_qos.deadline().period);
| ~~~~~~~~^~~~~~~~
| m_deadline
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp:93:47: error: ‘const class eprosima::fastdds::dds::WriterQos’ has no member named ‘lifespan’; did you mean ‘m_lifespan’?
93 | qos->lifespan = dds_duration_to_rmw(dds_qos.lifespan().duration);
| ~~~~~~~~^~~~~~~~
| m_lifespan
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp:95:19: error: ‘const class eprosima::fastdds::dds::WriterQos’ has no member named ‘liveliness’; did you mean ‘m_liveliness’?
95 | switch (dds_qos.liveliness().kind) {
| ~~~~~~~~^~~~~~~~~~
| m_liveliness
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp:107:64: error: ‘const class eprosima::fastdds::dds::WriterQos’ has no member named ‘liveliness’; did you mean ‘m_liveliness’?
107 | qos->liveliness_lease_duration = dds_duration_to_rmw(dds_qos.liveliness().lease_duration);
| ~~~~~~~~^~~~~~~~~~
| m_liveliness
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp:109:19: error: ‘const class eprosima::fastdds::dds::WriterQos’ has no member named ‘history’
109 | switch (dds_qos.history().kind) {
| ~~~~~~~~^~~~~~~
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp:120:44: error: ‘const class eprosima::fastdds::dds::WriterQos’ has no member named ‘history’
120 | qos->depth = static_cast<size_t>(dds_qos.history().depth);
| ~~~~~~~~^~~~~~~
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp: In instantiation of ‘void dds_qos_to_rmw_qos(const DDSQoSPolicyT&, rmw_qos_profile_t*) [with DDSQoSPolicyT = eprosima::fastdds::dds::ReaderQos; rmw_qos_profile_t = rmw_qos_profile_t]’:
/home/ubuntu/linorobot2_ws/src/uros/micro-ROS-Agent/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp:446:48: required from here
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp:68:19: error: ‘const class eprosima::fastdds::dds::ReaderQos’ has no member named ‘reliability’; did you mean ‘m_reliability’?
68 | switch (dds_qos.reliability().kind) {
| ~~~~~~~~^~~~~~~~~~~
| m_reliability
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp:80:19: error: ‘const class eprosima::fastdds::dds::ReaderQos’ has no member named ‘durability’; did you mean ‘m_durability’?
80 | switch (dds_qos.durability().kind) {
| ~~~~~~~~^~~~~~~~~~
| m_durability
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp:92:47: error: ‘const class eprosima::fastdds::dds::ReaderQos’ has no member named ‘deadline’; did you mean ‘m_deadline’?
92 | qos->deadline = dds_duration_to_rmw(dds_qos.deadline().period);
| ~~~~~~~~^~~~~~~~
| m_deadline
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp:93:47: error: ‘const class eprosima::fastdds::dds::ReaderQos’ has no member named ‘lifespan’; did you mean ‘m_lifespan’?
93 | qos->lifespan = dds_duration_to_rmw(dds_qos.lifespan().duration);
| ~~~~~~~~^~~~~~~~
| m_lifespan
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp:95:19: error: ‘const class eprosima::fastdds::dds::ReaderQos’ has no member named ‘liveliness’; did you mean ‘m_liveliness’?
95 | switch (dds_qos.liveliness().kind) {
| ~~~~~~~~^~~~~~~~~~
| m_liveliness
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp:107:64: error: ‘const class eprosima::fastdds::dds::ReaderQos’ has no member named ‘liveliness’; did you mean ‘m_liveliness’?
107 | qos->liveliness_lease_duration = dds_duration_to_rmw(dds_qos.liveliness().lease_duration);
| ~~~~~~~~^~~~~~~~~~
| m_liveliness
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp:109:19: error: ‘const class eprosima::fastdds::dds::ReaderQos’ has no member named ‘history’
109 | switch (dds_qos.history().kind) {
| ~~~~~~~~^~~~~~~
/opt/ros/galactic/include/rmw_fastrtps_shared_cpp/qos.hpp:120:44: error: ‘const class eprosima::fastdds::dds::ReaderQos’ has no member named ‘history’
120 | qos->depth = static_cast<size_t>(dds_qos.history().depth);
| ~~~~~~~~^~~~~~~
make[5]: *** [CMakeFiles/micro_ros_agent.dir/build.make:89: CMakeFiles/micro_ros_agent.dir/src/agent/graph_manager/graph_manager.cpp.o] Error 1
make[5]: *** Waiting for unfinished jobs....
make[4]: *** [CMakeFiles/Makefile2:78: CMakeFiles/micro_ros_agent.dir/all] Error 2
make[3]: *** [Makefile:141: all] Error 2
make[2]: *** [CMakeFiles/micro_ros_agent.dir/build.make:113: micro_ros_agent-prefix/src/micro_ros_agent-stamp/micro_ros_agent-build] Error 2
make[1]: *** [CMakeFiles/Makefile2:78: CMakeFiles/micro_ros_agent.dir/all] Error 2
make: *** [Makefile:84: all] Error 2

Failed <<< micro_ros_agent [11min 43s, exited with code 2]

Summary: 1 package finished [12min 18s]
1 package failed: micro_ros_agent
1 package had stderr output: micro_ros_agent

A little later:

make: *** [Makefile:141: all] Error 2

Failed <<< micro_ros_agent [25.3s, exited with code 2]
Aborted <<< drive_base_msgs [1min 16s]

Summary: 7 packages finished [1min 17s]
1 package failed: micro_ros_agent
1 package aborted: drive_base_msgs
1 package had stderr output: micro_ros_agent
1 package not processed

On Raspberry Pi 4 4GB installed Ubuntu 22.04 Jammy Jellyfish 64 bit Server then MATE Desktop after great frustration as the images for the Desktop versions all failed to boot. Cloned and ran ros2me just fine but then echo $ROS_DISTRO came up blank indicating that ROS2 failed to install. (have created Issue in ros2me repo). Since I seem to need to install ROS2 Humble Hawksbill manually, is there any harm in installing the full version rather than just BASE?

robot position has changed 45 degree opposite
how to change the robot or laser position.

Hello all,
I have been facing an issue when detect an obstacle and the obstacle gets updated on the on the local costmap, but after the obstacle has moved the obstacle is still present on the local costmap.

got this error while ros2 launch linorobot2_navigation navigation.launch
is the error related with obstacle cant clear?

Thanks

I run:
ros2 launch linorobot2_bringup bringup.launch.py
ros2 run teleop_twist_keyboard teleop_twist_keyboard
ros2 launch linorobot2_navigation slam.launch.py rviz:=true
to slam, but I the transform wasn't working. And rviz has a lot of errors displayed all related to transform.

I'm new to ROS2 and wasn't able to Identify and fix the problems...

URDF looks ok and working:

Topic list:

/clicked_point
/cmd_vel
/diagnostics
/goal_pose
/imu/data
/initialpose
/joint_states
/map
/map_metadata
/map_updates
/odom
/odom/unfiltered
/parameter_events
/robot_description
/rosout
/scan
/set_pose
/slam_toolbox/feedback
/slam_toolbox/graph_visualization
/slam_toolbox/scan_visualization
/slam_toolbox/update
/tf
/tf_static

• System info
  System config: 2wd
  System: Jetson nano
  OS: Ubuntu 20.04 from Qengineering
  Base board: Teency 4.0
  Lidar: Rplidar
  IMU: MPU-9250
  Motor driver: L298N

Appreciate any help.

Have robot running on Jetson Nano 2GB, Foxy install. RPLIDAR A1M8. At navigation step.

1. I can use SLAM and save a map, then when I open navigation it loses the map and starts in the unknown. Tried launching from path within the command and also hard coding the map name and colcon build. The maps exist in my map folder so no error given it just doesnt show up in RVIZ Picture 1

• Anyway to just load a saved map without being in navigation application to double check it is being saved?
• Should I be saving the map on Host and Robot computers?

Hi

Installed Galactic last night :-)
git clone -b $ROS_DISTRO https://github.com/linorobot/linorobot2_viz src/linorobot2_viz fails.
removed -b $ROS_DISTRO and it installs.
After Linorobot2 installation i found that realsense udev rules was missing, downloaded and fixed.
Now Robot runs perfectly as a 2wd with rplidar and also with realsense as lidar.
But using both rplidar and realsense only lidar seems to be used.
Rviz shows no data in "bumper hit" , is there any tricks to get voxel layer / pointcloud working ?

Best regards

ubuntu@LINOROBOT:/tmp$ bash install_linorobot2.bash 4wd ydlidar realsense
...
E: Unable to locate package ros-humble-gazebo-ros-pkgs
ERROR: the following rosdeps failed to install
apt: command [sudo -H apt-get install -y ros-humble-gazebo-ros-pkgs] failed

Trying directly:
ubuntu@LINOROBOT:/tmp$ sudo -H apt-get install -y ros-humble-gazebo-ros-pkgs
also fails

according to https://github.com/ros-simulation/gazebo_ros_pkgs/issues/1158
chapulina commented on Sep 9, 2020
Board: Raspberry Pi4 4Gb of RAM
ros foxy on a Rpi4
This is the problem, gazebo-ros-pkgs is only available for amd64:

Confirmed by looking in:
http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-foxy-gazebo-ros-pkgs/

ros--desktop-full is reported to contain gazebo. It is NOT available.
whereas ros--desktop does not. IS available for humble.
Need a work-around to install gazebo under ROS2 Humble / U22 Jammy / Raspberry Pi 4B-8GB

Hi, I'm following the quick start linorobot2 and run exact the same install command except replace "micro-ros-agent" to my own node to process "/cmd_vel" topics. However, the following two message keeping showing up and the rviz keeping showing no transform from all part to "map" topics.

When I run nav2 package,

When I run bring_up.

Any help is appreciated!!!

Thanks in advance!!!

Hi ı make edit on the lino2 robot xacro file with mecanum wheel, ı add my .dae file it works but ı cant change color on body, still looks yellow, ı change the color parameter on base.urdf.xacro but dont apply my changes

My robot is working normally but even after modify eky.yaml and all suggested problems i am not able receive the map properly

Warning: Invalid frame ID "map" passed to canTransform argument target_frame - frame does not exist
[rviz2-1]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-1]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp
[rviz2-1] Warning: Invalid frame ID "camera_depth_link" passed to canTransform argument source_frame - frame does not exist
[rviz2-1]          at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp

in ros2 launch linorobot2_viz slam.launch.py

[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2022-04-07-17-29-39-629182-ubuntu-5607
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [async_slam_toolbox_node-1]: process started with pid [5609]
[async_slam_toolbox_node-1] [INFO] [1649352580.291677050] [slam_toolbox]: Node using stack size 40000000
[async_slam_toolbox_node-1] [INFO] [1649352580.769956287] [slam_toolbox]: Using solver plugin solver_plugins::CeresSolver
[async_slam_toolbox_node-1] [INFO] [1649352580.773386071] [slam_toolbox]: CeresSolver: Using SCHUR_JACOBI preconditioner.
[async_slam_toolbox_node-1] [WARN] [1649352580.819195176] [slam_toolbox]: maximum laser range setting (20.0 m) exceeds the capabilities of the used Lidar (12.0 m)
[async_slam_toolbox_node-1] Registering sensor: [Custom Described Lidar]

in ros2 launch linorobot2_navigation slam.launch.py

[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2022-04-07-17-28-15-296529-ubuntu-5247
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [micro_ros_agent-1]: process started with pid [5250]
[INFO] [ekf_node-2]: process started with pid [5252]
[INFO] [joint_state_publisher-3]: process started with pid [5254]
[INFO] [robot_state_publisher-4]: process started with pid [5256]
[INFO] [rplidar_composition-5]: process started with pid [5258]
[micro_ros_agent-1] [1649352497.176002] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[micro_ros_agent-1] [1649352497.176696] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[rplidar_composition-5] [INFO] [1649352497.237481509] [rplidar_composition]: RPLIDAR running on ROS 2 package rplidar_ros. SDK Version: '1.12.0'
[robot_state_publisher-4] Link base_link had 7 children
[robot_state_publisher-4] Link camera_link had 1 children
[robot_state_publisher-4] Link camera_depth_link had 0 children
[robot_state_publisher-4] Link front_left_wheel_link had 0 children
[robot_state_publisher-4] Link front_right_wheel_link had 0 children
[robot_state_publisher-4] Link imu_link had 0 children
[robot_state_publisher-4] Link laser had 0 children
[robot_state_publisher-4] Link rear_left_wheel_link had 0 children
[robot_state_publisher-4] Link rear_right_wheel_link had 0 children
[robot_state_publisher-4] [INFO] [1649352497.270687730] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-4] [INFO] [1649352497.271041504] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1649352497.271124707] [robot_state_publisher]: got segment camera_depth_link
[robot_state_publisher-4] [INFO] [1649352497.271164040] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-4] [INFO] [1649352497.271197021] [robot_state_publisher]: got segment front_left_wheel_link
[robot_state_publisher-4] [INFO] [1649352497.271229687] [robot_state_publisher]: got segment front_right_wheel_link
[robot_state_publisher-4] [INFO] [1649352497.271260891] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-4] [INFO] [1649352497.271293742] [robot_state_publisher]: got segment laser
[robot_state_publisher-4] [INFO] [1649352497.271324779] [robot_state_publisher]: got segment rear_left_wheel_link
[robot_state_publisher-4] [INFO] [1649352497.271356297] [robot_state_publisher]: got segment rear_right_wheel_link
[micro_ros_agent-1] [1649352498.157387] info     | Root.cpp           | create_client            | create                 | client_key: 0x5E218E29, session_id: 0x81
[micro_ros_agent-1] [1649352498.157540] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x5E218E29, address: 0
[micro_ros_agent-1] [1649352498.200126] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x5E218E29, participant_id: 0x000(1)
[micro_ros_agent-1] [1649352498.205602] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x5E218E29, topic_id: 0x000(2), participant_id: 0x000(1)
[micro_ros_agent-1] [1649352498.210683] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x5E218E29, publisher_id: 0x000(3), participant_id: 0x000(1)
[micro_ros_agent-1] [1649352498.216667] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x5E218E29, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[micro_ros_agent-1] [1649352498.222560] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x5E218E29, topic_id: 0x001(2), participant_id: 0x000(1)
[micro_ros_agent-1] [1649352498.227583] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x5E218E29, publisher_id: 0x001(3), participant_id: 0x000(1)
[micro_ros_agent-1] [1649352498.233474] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x5E218E29, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[micro_ros_agent-1] [1649352498.238540] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x5E218E29, topic_id: 0x002(2), participant_id: 0x000(1)
[micro_ros_agent-1] [1649352498.243687] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x5E218E29, subscriber_id: 0x000(4), participant_id: 0x000(1)
[micro_ros_agent-1] [1649352498.249762] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x5E218E29, datareader_id: 0x000(6), subscriber_id: 0x000(4)
[joint_state_publisher-3] [INFO] [1649352498.813956023] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[rplidar_composition-5] [INFO] [1649352499.761990349] [rplidar_composition]: RPLIDAR S/N: 7FF6EDF9C7E29BCEA7E39EF2EF254304
[rplidar_composition-5] [INFO] [1649352499.762214995] [rplidar_composition]: Firmware Ver: 1.29
[rplidar_composition-5] [INFO] [1649352499.762313624] [rplidar_composition]: Hardware Rev: 7
[rplidar_composition-5] [INFO] [1649352499.763890090] [rplidar_composition]: RPLidar health status : '0'
[rplidar_composition-5] [INFO] [1649352500.307478918] [rplidar_composition]: current scan mode: Sensitivity, max_distance: 12.0 m, Point number: 7.9K , angle_compensate: 2, flip_x_axis 0

in ros2 launch linorobot2_bringup bringup.launch.py

Some assistance please.I am unable to compile during colcon build, I keep getting the following issue. Trying to install with zed2i ubuntu 20 on jetson nano image. Thank You

/home/jetson/dev_ws/src/image_common/camera_info_manager/src/camera_info_manager.cpp:46:10: fatal error: rcpputils/env.hpp: No such file or directory
#include "rcpputils/env.hpp"
^~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/camera_info_manager.dir/build.make:63: CMakeFiles/camera_info_manager.dir/src/camera_info_manager.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:78: CMakeFiles/camera_info_manager.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

Failed <<< camera_info_manager [5.59s, exited with code 2]
Aborted <<< turtlesim [13.4s]
Aborted <<< zed_components [7.67s]

Summary: 2 packages finished [14.5s]
1 package failed: camera_info_manager
2 packages aborted: turtlesim zed_components
2 packages had stderr output: camera_info_manager zed_components
3 packages not processed

Getting the following error when I try to load the firmware to a teensy41.

Compiling .pio/build/teensy41/lib443/imu/ADXL345.cpp.o
In file included from /home/jetson/linorobot2_hardware/firmware/src/firmware.ino:32:0:
lib/odometry/odometry.h:19:48: fatal error: micro_ros_utilities/type_utilities.h: No such file or directory
compilation terminated.
Compiling .pio/build/teensy41/lib443/imu/HMC5883L.cpp.o
*** [.pio/build/teensy41/src/firmware.ino.cpp.o] Error 1
========================= [FAILED] Took 17.60 seconds =========================

Environment Status Duration

teensy41 FAILED 00:00:17.599
==================== 1 failed, 0 succeeded in 00:00:17.599 ====================

Please advise. Thank you

The testing and motor running worked fine, but now I'm trying to get it to drive around, and this error comes up.

Galactic, Ubuntu 20.02, Raspi, Teensy 4.0, L298N motor controllers.

I still have it connected to screen, keyboard and mouse. Does that cause it?

Jetson Nano
ROS2 Galactic

Teensy goes to the error loop (led flashes two times) or, sometimes, micro-ros agent restarts when the robot receives the goal.

Seems there isn't such error in ROS2 Foxy.

I'll really appreciate an assistance to fix it.

I can't remember whether it was a pull request here or on another repo, but I vaguely remember someone adding a wrapper for linorobot2 so it can be more easily used for other robots. Is that the case for robots with different motor controller boards and imu sensors?

Hello,

I use ROS2 foxy with Ubuntu 20.04 and the realsens is my target sensor.
When I tried to install, I got "E: Unable to locate package ros-foxy-realsense2-camera".

I tried "sudo apt install ros-foxy-realsense2-camera" but I got
"E: Unable to locate package ros-foxy-realsense2-camera".
Is there any way to install the realsens2-camera package for ROS2 foxy?

Thanks.

Voxellayer never adds marked voxels, and robot hits everthing lower than the laser. Pointcloud is working and can be seen in RVIZ
I tried changing raytrace_min_range: 0.5 to lower and higher value. But that didn't work

Found a suggestion that the sensor frame is wrong. Pointcloud topic: /camera/depth/color/points has "camera_depth_optical_frame" as frame_id. And that should be defined. Not tested yet.

realsense: topic: /camera/depth/color/points raytrace_min_range: 0.5 min_obstacle_height: 0.0 max_obstacle_height: 2.0 clearing: True marking: True sensor_frame: camera_depth_optical_frame data_type: "PointCloud2"

Or that the depth_sensor.urdf.xacro should match the Pointcloud frame_id:

Anyone using RpLidar and Realsense Pointcloud2 / Voxellayer ? And how did you make this work ?

Best regards Kim

Following
https://github.com/linorobot/linorobot2#installation:

ubuntu@LINOROBOT:/tmp$ echo $ROS_DISTRO
humble
ubuntu@LINOROBOT:~$ echo $(rosversion -d)
humble
ubuntu@LINOROBOT:~$ source /opt/ros/humble/setup.bash
ubuntu@LINOROBOT:~$ cd /tmp
ubuntu@LINOROBOT:/tmp$ wget https://raw.githubusercontent.com/linorobot/linorobot2/${ROS_DISTRO}/install_linorobot2.bash
--2022-07-09 18:10:16--  https://raw.githubusercontent.com/linorobot/linorobot2/humble/install_linorobot2.bash
Resolving raw.githubusercontent.com (raw.githubusercontent.com)... 2606:50c0:8000::154, 2606:50c0:8001::154, 2606:50c0:8002::154, ...
Connecting to raw.githubusercontent.com (raw.githubusercontent.com)|2606:50c0:8000::154|:443... connected.
HTTP request sent, awaiting response... 404 Not Found
2022-07-09 18:10:16 ERROR 404: Not Found.

ubuntu@LINOROBOT:/tmp$ wget https://raw.githubusercontent.com/linorobot/linorobot2/humble/install_linorobot2.bash
--2022-07-09 18:18:25--  https://raw.githubusercontent.com/linorobot/linorobot2/humble/install_linorobot2.bash
Resolving raw.githubusercontent.com (raw.githubusercontent.com)... 2606:50c0:8001::154, 2606:50c0:8003::154, 2606:50c0:8002::154, ...
Connecting to raw.githubusercontent.com (raw.githubusercontent.com)|2606:50c0:8001::154|:443... connected.
HTTP request sent, awaiting response... 404 Not Found
2022-07-09 18:18:25 ERROR 404: Not Found.

Hi,

I'm trying to run the script using Foxy - Ubuntu 20.04 Setup. It seems that to be able to run the script one must have python3-rospkg package. Even if I source my foxy setup.bash file,

 ROSDISTRO="$(rosversion -d)"

doesn't work. Instead we can use

ROSDISTRO="$(printenv ROS_DISTRO)"

for deciding the ROSDISTRO variable, since in the instructions it says we should source the correct setup.bash beforehand.

In addition to that

if [ LASER_SENSOR=="-" ]
    then
        LASER_SENSOR=""
fi

if [ DEPTH_SENSOR=="-" ]
    then
        DEPTH_SENSOR=""
fi

part is eliminating every sensor thats given. Please take a look at this part, I fixed those parts by changing it to

if [ -z "$LASER_SENSOR" ]
    then
        LASER_SENSOR=""
fi

if [ -z "$DEPTH_SENSOR" ]
    then
        DEPTH_SENSOR=""
fi

ros2 launch linorobo2_description description.launch.py rviz:=true

Should read:
ros2 launch linorobot2_description description.launch.py rviz:=true