pal-robotics / pmb2_robot Goto Github PK

Hello,
Thank you for your work
I have trouble with simulations on PMB2 robot.
I have Ubuntu 14.04 and ROS Indigo installed. I went through this guide. When I start the simulation, Gazebo spawns with all the environment and robot in it. However, gazebo's node immediately dies after that and robot cannot be controlled.

Gazebo window stay still and working:

I attach the log file of the launch: logs.txt

Could you help me please to solve this issue?

My thoughts:

1. This could be caused by packages speed_limit and sensor_to_cloud absence (I could not find them on PAL Robotics' Github)
2. This simulation launches fine in Developer OS provided on USB-stick with real PMB2 robot. It is also Ubuntu 14.04 with ROS Indigo, but it has multiple problems with drivers(Wi-Fi and USB), so I wanted to be able launch simulations in common Ubuntu. Hope this helps.

Will be glad to any help

Hello,

We have found that the laser doesn't work in gazebo for the tiago simulations, and traced it back to the following change:

This loads the Gazebo GPU Laser Plugin which doesn't seem to work when using an non-dedicated GPU.

We also found that export LIBGL_ALWAYS_SOFTWARE=1 (which we found in https://answers.gazebosim.org/question/9016/strange-hokuyo-laser-range-with-libgazebo_ros_gpu_laserso/?answer=12523#post-id-12523) solves the issue (although it disables all gpu rendering). It would be great if this would check for the existence of the GPU, otherwise it may be good to document that this environment variable may fix the issue.

Hi! My skills in ROS isn't that good, but I cant "git clone" the code for "foxy devel". Im running ubuntu 20.04 foxy and when i git clone it in my src folder and colcon build i get this error.

Am i doing something wrong or forgot to do something?

Hello,

Thank for your amazing work.

I tried to rosdep according to http://wiki.ros.org/Robots/PMB-2 , and ran into error:

rosdep install --from-paths src --ignore-src --rosdistro indigolERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
pmb2_bringup: Cannot locate rosdep definition for [speed_limit]

And I can't find which ROS package provide speed_limit.

Could you help me out?

Best Regards,
Weiqi Chen.

Hi PAL team,

After applying the following change, the laser sensor will produce extra noises (two blue squares) under the robot base.

6f2f482#diff-ad08db4e382cb0e728defe237a9f3c1e5182555d33df65e413a7b74289504ce6R60

These noises will cause additional occupied space in the costmap.

Once I rollback this change, the noise will disappear, like the following image.

I don’t know if this is a bug or a new feature for TIAGO. 😅

Dear @v-lopez could you provide the tags and releases of your package ?

The last release indicates 0.1.0 where as the package is at version 1.1.8.

This would allow to have the tar.gz file of your package directly available from github.

Thanks a lot for your help.
Best,
Olivier.

The base model defined at the line is smaller than the real one (the diameter is about 5cm smaller).

The correct file seems to be meshes/base/base_collision.dae. Fortunately, we stopped the robot early enough.