joshnewans / articubot_one Goto Github PK

Hi, i have been following your work on ROS, since i started ros. so, i am running this articubot_one(with 4 wheel instead of a caster one) on my machine(installed ros1-melodic) in different name, changed the name where all i can find. The problem is ros1 didn't find "ament_index_python" package, because it is build on catkin not on colcon. How can i fix this? is there anyway to run this on catkin?
Below is the error showed when i run.

I ran into an issue while running
ros2 launch sdbot launch_robot.launch.py
note: ive renamed repo to sabot including all elements following the description
following instructions from the YouTube video. - https://www.youtube.com/watch?v=4VVrTCnxvSw&t=588s
ive ran into the error:
[robot_state_publisher-1] [INFO] [1681873004.978478210] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1681873004.978775002] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1681873004.978825371] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1681873004.978851501] [robot_state_publisher]: got segment camera_link_optical
[robot_state_publisher-1] [INFO] [1681873004.978876093] [robot_state_publisher]: got segment caster_wheel
[robot_state_publisher-1] [INFO] [1681873004.978899352] [robot_state_publisher]: got segment chassis
[robot_state_publisher-1] [INFO] [1681873004.978922110] [robot_state_publisher]: got segment face_link
[robot_state_publisher-1] [INFO] [1681873004.978944277] [robot_state_publisher]: got segment laser_frame
[robot_state_publisher-1] [INFO] [1681873004.978966536] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-1] [INFO] [1681873004.978988832] [robot_state_publisher]: got segment right_wheel
[ERROR] [robot_state_publisher-1]: process[robot_state_publisher-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [robot_state_publisher-1]: sending signal 'SIGTERM' to process[robot_state_publisher-1]
[ERROR] [robot_state_publisher-1]: process has died [pid 4833, exit code -15, cmd '/opt/ros/foxy/lib/robot_state_publisher/robot_state_publisher --ros-args --params-file /tmp/launch_params_adnmkutt'].

please help me out with it...

Hi there,
I am wondering if you can help me in how I can fix the following error
/dev_ws$ sudo apt install ros-foxy-desktop_
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
E: Unable to locate package ros-foxy-desktop

Hi Josh. Your videos have been so helpful. I used your repository to make a 4 wheeled robot but the ros2_control plugin isn’t working well. My robot moves in a crazy manner when I run the launch file in gazebo. Do you know how I can make it work for 4 wheels instead of two?

My robot_ws build fails. The error seems to be with diffdrive_arduino package. I am using the ros2 humble fork

starting >>> diffdrive_arduino

--- stderr: diffdrive_arduino

In file included from /home/alexf/robot_ws/src/diffdrive_arduino/src/fake_robot.cpp:1:

/home/alexf/robot_ws/src/diffdrive_arduino/include/diffdrive_arduino/fake_robot.h:35:15: error: ‘hardware_interface::return_type FakeRobot::read()’ marked ‘override’, but does not override

35 | return_type read() override;

  |               ^~~~

/home/alexf/robot_ws/src/diffdrive_arduino/include/diffdrive_arduino/fake_robot.h:37:15: error: ‘hardware_interface::return_type FakeRobot::write()’ marked ‘override’, but does not override

37 | return_type write() override;

  |               ^~~~~

/home/alexf/robot_ws/src/diffdrive_arduino/src/fake_robot.cpp:13:1: error: ‘CallbackReturn’ does not name a type

13 | CallbackReturn FakeRobot::on_init(const hardware_interface::HardwareInfo & info)

  | ^~~~~~~~~~~~~~

/home/alexf/robot_ws/src/diffdrive_arduino/src/fake_robot.cpp:67:1: error: ‘CallbackReturn’ does not name a type

67 | CallbackReturn FakeRobot::on_activate(const rclcpp_lifecycle::State & /previous_state/)

  | ^~~~~~~~~~~~~~

/home/alexf/robot_ws/src/diffdrive_arduino/src/fake_robot.cpp:74:1: error: ‘CallbackReturn’ does not name a type

74 | CallbackReturn FakeRobot::on_deactivate(const rclcpp_lifecycle::State & /previous_state/)

  | ^~~~~~~~~~~~~~

In file included from /home/alexf/robot_ws/src/diffdrive_arduino/src/diffdrive_arduino.cpp:1:

/home/alexf/robot_ws/src/diffdrive_arduino/include/diffdrive_arduino/diffdrive_arduino.h:36:15: error: ‘hardware_interface::return_type DiffDriveArduino::read()’ marked ‘override’, but does not override

36 | return_type read() override;

  |               ^~~~

/home/alexf/robot_ws/src/diffdrive_arduino/include/diffdrive_arduino/diffdrive_arduino.h:38:15: error: ‘hardware_interface::return_type DiffDriveArduino::write()’ marked ‘override’, but does not override

38 | return_type write() override;

  |               ^~~~~

/home/alexf/robot_ws/src/diffdrive_arduino/src/diffdrive_arduino.cpp:13:1: error: ‘CallbackReturn’ does not name a type

13 | CallbackReturn DiffDriveArduino::on_init(const hardware_interface::HardwareInfo & info)

  | ^~~~~~~~~~~~~~

/home/alexf/robot_ws/src/diffdrive_arduino/src/diffdrive_arduino.cpp:71:1: error: ‘CallbackReturn’ does not name a type

71 | CallbackReturn DiffDriveArduino::on_activate(const rclcpp_lifecycle::State & /previous_state/)

  | ^~~~~~~~~~~~~~

/home/alexf/robot_ws/src/diffdrive_arduino/src/diffdrive_arduino.cpp:83:1: error: ‘CallbackReturn’ does not name a type

83 | CallbackReturn DiffDriveArduino::on_deactivate(const rclcpp_lifecycle::State & /previous_state/)

  | ^~~~~~~~~~~~~~

In file included from /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp:57,

             from /opt/ros/humble/include/class_loader/class_loader/class_loader.hpp:55,

             from /opt/ros/humble/include/pluginlib/pluginlib/class_list_macros.hpp:40,

             from /home/alexf/robot_ws/src/diffdrive_arduino/src/fake_robot.cpp:116:

/opt/ros/humble/include/class_loader/class_loader/meta_object.hpp: In instantiation of ‘B* class_loader::impl::MetaObject<C, B>::create() const [with C = FakeRobot; B = hardware_interface::SystemInterface]’:

/opt/ros/humble/include/class_loader/class_loader/meta_object.hpp:216:7: required from here

/opt/ros/humble/include/class_loader/class_loader/meta_object.hpp:218:12: error: invalid new-expression of abstract class type ‘FakeRobot’

218 | return new C;

  |            ^~~~~

In file included from /home/alexf/robot_ws/src/diffdrive_arduino/src/fake_robot.cpp:1:

/home/alexf/robot_ws/src/diffdrive_arduino/include/diffdrive_arduino/fake_robot.h:18:7: note: because the following virtual functions are pure within ‘FakeRobot’:

18 | class FakeRobot : public hardware_interface::SystemInterface

  |       ^~~~~~~~~

In file included from /home/alexf/robot_ws/src/diffdrive_arduino/include/diffdrive_arduino/fake_robot.h:7,

             from /home/alexf/robot_ws/src/diffdrive_arduino/src/fake_robot.cpp:1:

/opt/ros/humble/include/hardware_interface/system_interface.hpp:175:23: note: ‘virtual hardware_interface::return_type hardware_interface::SystemInterface::read(const rclcpp::Time&, const rclcpp::Duration&)’

175 | virtual return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) = 0;

  |                       ^~~~

/opt/ros/humble/include/hardware_interface/system_interface.hpp:186:23: note: ‘virtual hardware_interface::return_type hardware_interface::SystemInterface::write(const rclcpp::Time&, const rclcpp::Duration&)’

186 | virtual return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) = 0;

  |                       ^~~~~

In file included from /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp:57,

             from /opt/ros/humble/include/class_loader/class_loader/class_loader.hpp:55,

             from /opt/ros/humble/include/pluginlib/pluginlib/class_list_macros.hpp:40,

             from /home/alexf/robot_ws/src/diffdrive_arduino/src/diffdrive_arduino.cpp:145:

/opt/ros/humble/include/class_loader/class_loader/meta_object.hpp: In instantiation of ‘B* class_loader::impl::MetaObject<C, B>::create() const [with C = DiffDriveArduino; B = hardware_interface::SystemInterface]’:

/opt/ros/humble/include/class_loader/class_loader/meta_object.hpp:216:7: required from here

/opt/ros/humble/include/class_loader/class_loader/meta_object.hpp:218:12: error: invalid new-expression of abstract class type ‘DiffDriveArduino’

218 | return new C;

  |            ^~~~~

In file included from /home/alexf/robot_ws/src/diffdrive_arduino/src/diffdrive_arduino.cpp:1:

/home/alexf/robot_ws/src/diffdrive_arduino/include/diffdrive_arduino/diffdrive_arduino.h:19:7: note: because the following virtual functions are pure within ‘DiffDriveArduino’:

19 | class DiffDriveArduino : public hardware_interface::SystemInterface

  |       ^~~~~~~~~~~~~~~~

In file included from /home/alexf/robot_ws/src/diffdrive_arduino/include/diffdrive_arduino/diffdrive_arduino.h:7,

             from /home/alexf/robot_ws/src/diffdrive_arduino/src/diffdrive_arduino.cpp:1:

/opt/ros/humble/include/hardware_interface/system_interface.hpp:175:23: note: ‘virtual hardware_interface::return_type hardware_interface::SystemInterface::read(const rclcpp::Time&, const rclcpp::Duration&)’

175 | virtual return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) = 0;

  |                       ^~~~

/opt/ros/humble/include/hardware_interface/system_interface.hpp:186:23: note: ‘virtual hardware_interface::return_type hardware_interface::SystemInterface::write(const rclcpp::Time&, const rclcpp::Duration&)’

186 | virtual return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) = 0;

  |                       ^~~~~

gmake[2]: *** [CMakeFiles/fake_robot.dir/build.make:76: CMakeFiles/fake_robot.dir/src/fake_robot.cpp.o] Error 1

gmake[1]: *** [CMakeFiles/Makefile2:165: CMakeFiles/fake_robot.dir/all] Error 2

gmake[1]: *** Waiting for unfinished jobs....

gmake[2]: *** [CMakeFiles/diffdrive_arduino.dir/build.make:76: CMakeFiles/diffdrive_arduino.dir/src/diffdrive_arduino.cpp.o] Error 1

gmake[1]: *** [CMakeFiles/Makefile2:139: CMakeFiles/diffdrive_arduino.dir/all] Error 2

gmake: *** [Makefile:146: all] Error 2

Failed <<< diffdrive_arduino [16.1s, exited with code 2]

Summary: 4 packages finished [32.3s]

1 package failed: diffdrive_arduino

3 packages had stderr output: diffdrive_arduino serial serial_motor_demo

ros2 launch rosbot launch_sim.launch.py world:=./src/rosbot/worlds/obstacles.world
[INFO] [launch]: All log files can be found below /home/jeet/.ros/log/2024-03-08-16-42-19-720301-ubuntu22-6299
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [6301]
[INFO] [joy_node-2]: process started with pid [6303]
[INFO] [teleop_node-3]: process started with pid [6305]
[INFO] [twist_mux-4]: process started with pid [6307]
[INFO] [gzserver-5]: process started with pid [6309]
[INFO] [gzclient-6]: process started with pid [6311]
[INFO] [spawn_entity.py-7]: process started with pid [6313]
[INFO] [spawner-8]: process started with pid [6315]
[INFO] [spawner-9]: process started with pid [6317]
[twist_mux-4] [INFO] [1709896340.653693644] [twist_mux]: Topic handler 'topics.joystick' subscribed to topic 'cmd_vel_joy': timeout = 0.500000s , priority = 100.
[teleop_node-3] [INFO] [1709896340.653822723] [TeleopTwistJoy]: Teleop enable button 4.
[teleop_node-3] [INFO] [1709896340.653951490] [TeleopTwistJoy]: Turbo on button 5.
[teleop_node-3] [INFO] [1709896340.653967522] [TeleopTwistJoy]: Linear axis x on 1 at scale 0.500000.
[teleop_node-3] [INFO] [1709896340.653985876] [TeleopTwistJoy]: Turbo for linear axis x is scale 1.000000.
[teleop_node-3] [INFO] [1709896340.653999405] [TeleopTwistJoy]: Angular axis yaw on 0 at scale 0.500000.
[teleop_node-3] [INFO] [1709896340.654010935] [TeleopTwistJoy]: Turbo for angular axis yaw is scale 1.000000.
[twist_mux-4] [INFO] [1709896340.655791489] [twist_mux]: Topic handler 'topics.navigation' subscribed to topic 'cmd_vel': timeout = 0.500000s , priority = 10.
[twist_mux-4] [INFO] [1709896340.656142675] [twist_mux]: Topic handler 'topics.tracker' subscribed to topic 'cmd_vel_tracker': timeout = 0.500000s , priority = 20.
[robot_state_publisher-1] [INFO] [1709896340.664091436] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1709896340.664313113] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1709896340.664331635] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1709896340.664341677] [robot_state_publisher]: got segment camera_link_optical
[robot_state_publisher-1] [INFO] [1709896340.664351437] [robot_state_publisher]: got segment caster_wheel
[robot_state_publisher-1] [INFO] [1709896340.664360038] [robot_state_publisher]: got segment chassis
[robot_state_publisher-1] [INFO] [1709896340.664368723] [robot_state_publisher]: got segment face_link
[robot_state_publisher-1] [INFO] [1709896340.664377127] [robot_state_publisher]: got segment laser_frame
[robot_state_publisher-1] [INFO] [1709896340.664385242] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-1] [INFO] [1709896340.664393336] [robot_state_publisher]: got segment right_wheel
[joy_node-2] [INFO] [1709896340.977236912] [joy_node]: Opened joystick: Xbox 360 Controller. deadzone: 0.050000
[spawn_entity.py-7] [INFO] [1709896341.337741302] [spawn_entity]: Spawn Entity started
[spawn_entity.py-7] [INFO] [1709896341.338158842] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-7] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-7] warnings.warn(
[spawn_entity.py-7] [INFO] [1709896341.340521769] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-7] [INFO] [1709896341.352384934] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-7] [INFO] [1709896341.352736534] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-7] [INFO] [1709896342.108368398] [spawn_entity]: Calling service /spawn_entity
[spawner-9] [INFO] [1709896343.209846292] [spawner_joint_broad]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1709896343.210612203] [spawner_diff_cont]: Waiting for '/controller_manager' node to exist
[spawner-9] [INFO] [1709896345.226370006] [spawner_joint_broad]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1709896345.227143409] [spawner_diff_cont]: Waiting for '/controller_manager' node to exist
[spawner-9] [INFO] [1709896347.244553444] [spawner_joint_broad]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1709896347.244862278] [spawner_diff_cont]: Waiting for '/controller_manager' node to exist
[spawner-9] [INFO] [1709896349.262314064] [spawner_joint_broad]: Waiting for '/controller_manager' node to exist
[spawner-8] [INFO] [1709896349.262533546] [spawner_diff_cont]: Waiting for '/controller_manager' node to exist

Good day sir. I have been following your tutorial for my project, I am not able to navigagte my robot, the callback error thrown in console log is "send_goal failed", I have attached my screenshot here. I kindly request you to guide me with this

Thankyou

Installed the articubot_one package and successfully complied in a ros2_ws on a Raspberry Pi UB22 e/w Camera v2, that shows in ls -l /dev/video0, articubot_one camera.launch.py. Throws an [ERROR] [v4l2_camera_node-1]: process has died [pid 5488, exit code -11, cmd '/opt/ros/humble/lib/v4l2_camera/v4l2_camera_node --ros-args --params-file /tmp/launch_params_52a0obwl']. Verified that v4l2-camera, image_tools image_transport_plugins, image_transport packages are installed. Not cv_camera though. I did get the package to work on an earlier ROS2 Galactic right out-of-the-box. Appreciate any suggested diagnostic steps?

I followed the tutorial, but when i launch slam_toolbox i get this error
[async_slam_toolbox_node-1] [INFO] [1673563529.479054377] [slam_toolbox]: Message Filter dropping message: frame 'laser_frame' at time 468.995 for reason 'Unknown'

also, in rviz2 cannot see the laser scan (unless I change Fixed Frame to "laser_frame")

running the navigation package and it complains about time sync issuses. Looking into it ans solved by adding a

use_sim_time:=false in the mapper_params_online_async.yaml file.

The robot does not auto-navigate unless I put this in.

My robot is almost identical to yours so id recommend including it

ros2 launch rosbot launch_robot.launch.py
[INFO] [launch]: All log files can be found below /home/pi/.ros/log/2024-03-05-11-30-17-477242-pi-2036
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executed command failed. Command: xacro /home/pi/robot_ws/install/rosbot/share/rosbot/description/robot.urdf.xacro use_ros2_control:=true sim_mode:=false
Captured stderr output: warning: No module named 'rosgraph'
Usage: xacro [options]

xacro: error: expected exactly one input file as argument

Hi Josh thanks a lot for the videos, They helped me a lot to understand ROS2 and how to build a differential drive bot. I am working on a 4 WD and have been following your tutorials until " Using ros2_control to drive our robot (off the edge of the bench...)" video. I am facing some trouble after changing to ros2_control, The issue is that my robot is not moving either left or right in gazebo but it seems to move in Rviz as expected. I have searched all the online resources but did not find anything that helps.
here is the link to my repo GitHub - BooraKaushik/autobot
Video of what is happening, IMG_5920.mov - Google Drive
as you can see it is turning fine in rviz but not in gazebo.

I would really appreciate any help.

I followed your tutorial creating rough 3D model of your robot : creating a rough 3d model of our robot https://www.youtube.com/watch?v=BcjHyhV0kIs

But I dont see the wheels in RVIZ . I have checked everything multiple times. The state publisher is running, launch file is also running perfectly but no wheels. But when i slide the slider on the publisher gui the TF axis for wheels does rotate. Below is a video for better explanation.

https://www.veed.io/view/4918fe1a-e40f-417a-a0b0-5264dbe23cd0?sharingWidget=true

Another point to note is that I have commented out the caster wheel code in the URDF. Still under the Golbal options where we select fixed frame I get option to chose a caster as a fixed link. Dont know where this caster is listed from as it is not described in my URDF.

I am experiencing an issue where the controller_manager services are not available, which prevents any interaction with hardware interfaces. Despite installing all necessary dependencies, reinstalling them, and ensuring that the ros2_control_node is activated first in the launch file, the problem persists. I have tested this on both my custom workspace and the publicly available articubot_one repository.

Steps to Reproduce:

Set up the environment with ROS2 Humble on Ubuntu 22.04.4 LTS.
Install all necessary dependencies for controller_manager.
Attempt to start the controller_manager via a launch file where ros2_control_node is prioritized.
Use the command ros2 control list_hardware_interfaces.

Expected Outcome:
The controller_manager services should be available, and the command ros2 control list_hardware_interfaces should list the available hardware interfaces.

Actual Outcome:
The command ros2 control list_hardware_interfaces fails with an error: "Could not contact service /controller_manager/list_hardware_interfaces."

Both the custom workspace and the articubot_one repository exhibit the same issue under the same conditions.
Here is the content of my launch file for reference
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node

def generate_launch_description():
package_name = 'firebot'

# Declare launch argument for simulation time
use_sim_time = DeclareLaunchArgument(
    'use_sim_time', default_value='true',
    description='Use simulation (Gazebo) clock if true')

# Include the robot_state_publisher launch file, force sim time to be enabled
rsp = IncludeLaunchDescription(
    PythonLaunchDescriptionSource(
        os.path.join(get_package_share_directory(package_name), 'launch', 'display.launch.py')
    ),
    launch_arguments={'use_sim_time': LaunchConfiguration('use_sim_time'), 'use_ros2_control': 'true'}.items()
)

# Include the Gazebo launch file
gazebo = IncludeLaunchDescription(
    PythonLaunchDescriptionSource(
        os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')
    )
)

# Node to spawn the robot in Gazebo
spawn_entity = Node(
    package='gazebo_ros', executable='spawn_entity.py',
    arguments=['-topic', 'robot_description', '-entity', 'firebot'],
    output='screen'
)

# Node for ros2 control
ros2_control_node = Node(
    package="controller_manager",
    executable="ros2_control_node",
    parameters=[
        os.path.join(get_package_share_directory(package_name), 'src','description', 'firebot_description.urdf.xacro'),
        os.path.join(get_package_share_directory(package_name), 'config', 'my_controllers.yaml')
    ],
    output='screen'
)

# Node for differential drive spawner
diff_drive_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=["diff_cont"],
    output='screen'
)

# Node for joint broadcaster spawner
joint_broad_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=["joint_broad"],
    output='screen'
)

# Combine all components into a LaunchDescription
return LaunchDescription([
    use_sim_time,
    rsp,
    gazebo,
    spawn_entity,
    ros2_control_node,
    diff_drive_spawner,
    joint_broad_spawner
])

Error:
[spawner-6] [INFO] [1714997730.121901418] [spawner_diff_cont]: Waiting for '/controller_manager' services to be available
[spawner-7] [INFO] [1714997730.152824682] [spawner_joint_broad]: Waiting for '/controller_manager' services to be available
[spawner-6] [INFO] [1714997732.141807404] [spawner_diff_cont]: Waiting for '/controller_manager' services to be available
[spawner-7] [INFO] [1714997732.176311279] [spawner_joint_broad]: Waiting for '/controller_manager' services to be available
[spawner-6] [INFO] [1714997734.166914743] [spawner_diff_cont]: Waiting for '/controller_manager' services to be available
[spawner-7] [INFO] [1714997734.205966275] [spawner_joint_broad]: Waiting for '/controller_manager' services to be available
[spawner-6] [INFO] [1714997736.189367049] [spawner_diff_cont]: Waiting for '/controller_manager' services to be available
[spawner-7] [INFO] [1714997736.224687879] [spawner_joint_broad]: Waiting for '/controller_manager' services to be available
[spawner-6] [ERROR] [1714997738.214785799] [spawner_diff_cont]: Controller manager not available
[spawner-7] [ERROR] [1714997738.257940291] [spawner_joint_broad]: Controller manager not available
[ERROR] [spawner-6]: process has died [pid 15294, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner diff_cont --ros-args'].
[ERROR] [spawner-7]: process has died [pid 15296, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_broad --ros-args'].

Could anyone please help identify what might be causing this issue or suggest further debugging steps?

I make the controller manager for one bot, but when I try to apply it to multiple bot with the same configuration. It cannot load the controller manager. Can you help? Thanks!

what i run rplidar.lunch.py and run rviz2 i not getting data and also i think it show some kind of error when i launch it

<xacro:include filename="gazebo_control.xacro" />
is missing in robot.urdf.xacro although you type it in the video ;)
great work, keep it up!

hello
Why does the laserscan move when I move the robot?

how can i solve this problem?

i’m working on a 2 wheel autonomous robot simulation with ROS2 and Gazebo. when never I launch this file gazebo sever crashing error Therefore im trying to setup ros2_control, but i got quiet some problems with it:

My setup: Ubuntu 22.04 Ros humble Gazebo 11.10.2

ros2 launch autonomous_bot launch_sim.launch.py 
[INFO] [launch]: All log files can be found below /home/rushabh/.ros/log/2024-04-10-10-20-53-087448-rushabh-Aspire-A515-57G-24269
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [24270]
[INFO] [gzserver-2]: process started with pid [24272]
[INFO] [gzclient-3]: process started with pid [24274]
[INFO] [spawn_entity.py-4]: process started with pid [24276]
[robot_state_publisher-1] [INFO] [1712724653.565116469] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1712724653.565180780] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1712724653.565187384] [robot_state_publisher]: got segment caster_wheel
[robot_state_publisher-1] [INFO] [1712724653.565191307] [robot_state_publisher]: got segment chassis
[robot_state_publisher-1] [INFO] [1712724653.565194777] [robot_state_publisher]: got segment laser_frame
[robot_state_publisher-1] [INFO] [1712724653.565198448] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-1] [INFO] [1712724653.565201901] [robot_state_publisher]: got segment right_wheel
[spawn_entity.py-4] [INFO] [1712724653.897650338] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1712724653.897867387] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-4] /opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/qos.py:307: UserWarning: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL is deprecated. Use DurabilityPolicy.TRANSIENT_LOCAL instead.
[spawn_entity.py-4]   warnings.warn(
[spawn_entity.py-4] [INFO] [1712724653.899170320] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-4] [INFO] [1712724653.901625135] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1712724653.901805336] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1712724654.406948601] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-4] [INFO] [1712724654.503504374] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [my_bot]
[gzserver-2] [WARN] [1712724654.505842505] [rcl]: Found remap rule '~/out:=scan'. This syntax is deprecated. Use '--ros-args --remap ~/out:=scan' instead.
[gzserver-2] [WARN] [1712724654.507346550] [rcl]: Found remap rule '~/out:=scan'. This syntax is deprecated. Use '--ros-args --remap ~/out:=scan' instead.
[gzserver-2] [INFO] [1712724654.620310544] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gzserver-2] [INFO] [1712724654.621628001] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gzserver-2] [INFO] [1712724654.621737794] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gzserver-2] [INFO] [1712724654.622666022] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gzserver-2] [INFO] [1712724654.623100631] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gzserver-2] [INFO] [1712724654.623122673] [gazebo_ros2_control]: Loading parameter files /home/rushabh/ros2_ws/install/autonomous_bot/share/autonomous_bot/config/my_controller.yaml
[gzserver-2] [INFO] [1712724654.630469268] [gazebo_ros2_control]: Loading joint: left_wheel_joint
[gzserver-2] [INFO] [1712724654.630495525] [gazebo_ros2_control]: 	State:
[gzserver-2] [INFO] [1712724654.630511420] [gazebo_ros2_control]: 		 velocity
[gzserver-2] [INFO] [1712724654.630516726] [gazebo_ros2_control]: 		 position
[gzserver-2] [INFO] [1712724654.630521067] [gazebo_ros2_control]: 	Command:
[gzserver-2] [INFO] [1712724654.630537652] [gazebo_ros2_control]: 		 velocity
[gzserver-2] [INFO] [1712724654.630544866] [gazebo_ros2_control]: Loading joint: right_wheel_joint
[gzserver-2] [INFO] [1712724654.630549345] [gazebo_ros2_control]: 	State:
[gzserver-2] [INFO] [1712724654.630553345] [gazebo_ros2_control]: 		 velocity
[gzserver-2] [INFO] [1712724654.630557432] [gazebo_ros2_control]: 		 position
[gzserver-2] [INFO] [1712724654.630561172] [gazebo_ros2_control]: 	Command:
[gzserver-2] [INFO] [1712724654.630566595] [gazebo_ros2_control]: 		 velocity
[gzserver-2] [INFO] [1712724654.630588565] [resource_manager]: Initialize hardware 'GazeboSystem' 
[gzserver-2] [INFO] [1712724654.630656757] [resource_manager]: Successful initialization of hardware 'GazeboSystem'
[gzserver-2] [INFO] [1712724654.630698827] [resource_manager]: 'configure' hardware 'GazeboSystem' 
[gzserver-2] [INFO] [1712724654.630703790] [resource_manager]: Successful 'configure' of hardware 'GazeboSystem'
[gzserver-2] [INFO] [1712724654.630707221] [resource_manager]: 'activate' hardware 'GazeboSystem' 
[gzserver-2] [INFO] [1712724654.630710405] [resource_manager]: Successful 'activate' of hardware 'GazeboSystem'
[gzserver-2] [INFO] [1712724654.630769214] [gazebo_ros2_control]: Loading controller_manager
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 24276]
[ERROR] [gzserver-2]: process has died [pid 24272, exit code -11, cmd 'gzserver -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
[ERROR] [gzclient-3]: process has died [pid 24274, exit code 255, cmd 'gzclient'].

robot.xarco

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

        <ros2_control name="GazeboSystem" type="system">
            <hardware>
                <plugin>gazebo_ros2_control/GazeboSystem</plugin>
            </hardware>
            <joint name="left_wheel_joint">
                <command_interface name="velocity">
                    <param name="min">-10</param>
                    <param name="max">10</param>
                </command_interface>
                <state_interface name="velocity"/>
                <state_interface name="position"/>
            </joint>
            <joint name="right_wheel_joint">
                <command_interface name="velocity">
                    <param name="min">-10</param>
                    <param name="max">10</param>
                </command_interface>
                <state_interface name="velocity"/>
                <state_interface name="position"/>
            </joint>
        </ros2_control>
         <gazebo>
        <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
            <parameters>$(find autonomous_bot)/config/my_controller.yaml</parameters>
        </plugin>
    </gazebo>
</robot>

my_controller.yaml

controller_manager:
  ros__parameters:
    
    
    update_rate: 30.0
    use_sim_time: true


    diff_cont:
      type: diff_drive_controller/DiffDriveController

    joint_board:
      type: joint_state_broadcaster/JointStateBroadcaster

diff_cont:
  ros__parameters:

     publish_rate: 50.0

     base_frame_id: base link

     left_wheel_names: ['left_wheel_joint']
     right_wheel_names: ['right_wheel_joint']
     wheel_separation: 0.35
     wheel_radius: 0.05

     use_stamped_vel: false

[ERROR] [1717163428.843720680] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result :
active samplers with a different type refer to the same texture image unit

this is error from rviz2 when starting the slam_toolbox

Good day, i'm launch robot-launch file on RPi4 and he is dont want to launch. I dont know why it happens, i tried a lot, but it doesnt work anyway. I think it because this code:

robot_description = ParameterValue(Command(['ros2 param get --hide-type /robot_state_publisher robot_description']), value_type=str)

    controller_params_file = os.path.join(get_package_share_directory(package_name),'config','my_controllers.yaml')

    controller_manager = Node(
        package="controller_manager",
        executable="ros2_control_node",
        parameters=[{'robot_description': robot_description},
                    controller_params_file]
    )

This what i get:

[INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [10864] [robot_state_publisher-1] [INFO] [1701792210.594888781] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1701792210.595375938] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1701792210.595467455] [robot_state_publisher]: got segment camera_link [robot_state_publisher-1] [INFO] [1701792210.595503547] [robot_state_publisher]: got segment camera_link_optical [robot_state_publisher-1] [INFO] [1701792210.595535732] [robot_state_publisher]: got segment caster_wheel [robot_state_publisher-1] [INFO] [1701792210.595566046] [robot_state_publisher]: got segment chassis [robot_state_publisher-1] [INFO] [1701792210.595595842] [robot_state_publisher]: got segment laser_frame [robot_state_publisher-1] [INFO] [1701792210.595625601] [robot_state_publisher]: got segment left_wheel [robot_state_publisher-1] [INFO] [1701792210.595657859] [robot_state_publisher]: got segment right_wheel [INFO] [ros2_control_node-2]: process started with pid [10903] [INFO] [spawner-3]: process started with pid [10905] [INFO] [spawner-4]: process started with pid [10907] [ros2_control_node-2] [WARN] [1701792217.291444991] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. [ros2_control_node-2] [INFO] [1701792217.292729153] [resource_manager]: Loading hardware 'RealRobot' [ros2_control_node-2] [INFO] [1701792217.310758087] [resource_manager]: Initialize hardware 'RealRobot' [ros2_control_node-2] [INFO] [1701792217.311612775] [DiffDriveArduino]: Configuring... [ros2_control_node-2] terminate called after throwing an instance of 'serial::IOException'

Am i right, that
[ros2_control_node-2] [WARN] [1701792217.291444991] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
this string shows because he cant launch controller_manager node? Sorry for my bad english

I tried your articubot package, this also doesnt work

Hi everyone, i'm having an issue trying to move the robot on gazebo, I followed all the instructions of the videos and the troubleshoot, but it doesn't move, only tried it with the keyboard. I didn't change anything in the folders before trying, so, apparently the code here in github may be with the problem, is there anything to change? any value?
FYI: I'm new to ROS