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ROS 2 Jazzyに対応します #158

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merged 20 commits into from
Nov 21, 2024
Merged

ROS 2 Jazzyに対応します #158

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7fdbb47
jazzyでビルドが通るように修正
chama1176 Jul 8, 2024
40749ac
capabilitiesに対応
chama1176 Jul 9, 2024
1491067
gz-sim対応
chama1176 Jul 9, 2024
45d2ccb
OMPLの設定ファイルを追加
chama1176 Jul 12, 2024
537cc7d
doc, ciをJazzy対応
chama1176 Jul 17, 2024
3531db7
Revert "jazzyでビルドが通るように修正"
chama1176 Jul 18, 2024
43216c2
誤ってフォーマッターをかけてしまっていたので修正します
chama1176 Jul 18, 2024
3e9401e
usb camの依存パッケージのバージョンについて記載
chama1176 Jul 18, 2024
fa714c2
Merge branch 'feature/support-jazzy' into feature/add-ompl-config
chama1176 Jul 18, 2024
5f62ad7
リリースされるまでバージョン指定を入れておく
chama1176 Jul 19, 2024
adc8fea
two handsをompl設定に追加
chama1176 Jul 19, 2024
e96d86a
MoveitConfigsBuilder周辺の記載を変更
chama1176 Jul 19, 2024
14f8e01
Merge remote-tracking branch 'origin/ros2' into feature/support-jazzy
chama1176 Nov 7, 2024
e741c8f
Update README.md
chama1176 Nov 13, 2024
33344ef
Update sciurus17_moveit_config/launch/run_move_group.launch.py
chama1176 Nov 13, 2024
57d513c
Update README.md
chama1176 Nov 13, 2024
39058b9
Update README.md
chama1176 Nov 13, 2024
26abaeb
READMEに点群検出サンプルの依存関係に追記
chama1176 Nov 13, 2024
a8d0a83
add dependency in ci
chama1176 Nov 21, 2024
94a7527
ci通るように修正
chama1176 Nov 21, 2024
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2 changes: 1 addition & 1 deletion .github/workflows/industrial_ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ jobs:
strategy:
matrix:
env:
- { ROS_DISTRO: humble, ROS_REPO: ros, BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source /root/target_ws/install/setup.bash" }
- { ROS_DISTRO: jazzy, ROS_REPO: ros, BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source /root/target_ws/install/setup.bash" }
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
Expand Down
7 changes: 4 additions & 3 deletions README.en.md
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Expand Up @@ -25,6 +25,7 @@ ROS 2 package suite of Sciurus17.
## Supported ROS 2 distributions

- Humble
- Jazzy

### ROS 1

Expand All @@ -37,17 +38,17 @@ ROS 2 package suite of Sciurus17.
- [Product page](https://www.rt-net.jp/products/sciurus17)
- [Web Shop](https://www.rt-shop.jp/index.php?main_page=product_info&products_id=3895&language=en)
- Linux OS
- Ubuntu 22.04
- Ubuntu 24.04
- ROS
- [Humble Hawksbill](https://docs.ros.org/en/humble/Installation.html)
- [Jazzy Jalisco](https://docs.ros.org/en/jazzy/Installation.html)

## Installation

### Build from source

```sh
# Setup ROS environment
source /opt/ros/humble/setup.bash
source /opt/ros/jazzy/setup.bash

# Download packages
mkdir -p ~/ros2_ws/src
Expand Down
13 changes: 10 additions & 3 deletions README.md
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Expand Up @@ -26,6 +26,7 @@ ROS 2 package suite of Sciurus17.
## Supported ROS 2 distributions

- Humble
- Jazzy

### ROS 1

Expand All @@ -38,23 +39,29 @@ ROS 2 package suite of Sciurus17.
- [製品ページ](https://www.rt-net.jp/products/sciurus17)
- [ウェブショップ](https://www.rt-shop.jp/index.php?main_page=product_info&products_id=3895)
- Linux OS
- Ubuntu 22.04
- Ubuntu 24.04
- ROS
- [Humble Hawksbill](https://docs.ros.org/en/humble/Installation.html)
- [Jazzy Jalisco](https://docs.ros.org/en/jazzy/Installation.html)

## Installation

### Build from source
2024 July 18現在、カメラを使ったサンプルで使用しているusb_camを正常に実行するためには
aptに登録されているものよりも最新のimage_commonのバージョンを使用する必要があります
そのためsciurus17関連のパッケージと合わせてソースからビルドします
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```sh
# Setup ROS environment
source /opt/ros/humble/setup.bash
source /opt/ros/jazzy/setup.bash

# Download packages
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone -b feature/support-jazzy https://github.com/rt-net/rt_manipulators_cpp.git
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git clone -b ros2 https://github.com/rt-net/sciurus17_ros.git
git clone -b ros2 https://github.com/rt-net/sciurus17_description.git
# To run examples with camera
git clone -b 5.1.4 https://github.com/ros-perception/image_common.git
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# Install dependencies
rosdep install -r -y -i --from-paths .
Expand Down
2 changes: 1 addition & 1 deletion sciurus17_examples/src/color_detection.cpp
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Expand Up @@ -22,7 +22,7 @@
#include "geometry_msgs/msg/point_stamped.hpp"
#include "sensor_msgs/msg/image.hpp"
#include "opencv2/opencv.hpp"
#include "cv_bridge/cv_bridge.h"
#include "cv_bridge/cv_bridge.hpp"
using std::placeholders::_1;

namespace sciurus17_examples
Expand Down
72 changes: 36 additions & 36 deletions sciurus17_gazebo/gui/gui.config
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Original file line number Diff line number Diff line change
Expand Up @@ -28,11 +28,11 @@

<!-- 3D scene -->
<plugin filename="MinimalScene" name="3D View">
<ignition-gui>
<gz-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
</gz-gui>

<engine>ogre2</engine>
<scene>scene</scene>
Expand All @@ -44,82 +44,82 @@

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<ignition-gui>
<gz-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</gz-gui>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<ignition-gui>
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</gz-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<ignition-gui>
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</gz-gui>
</plugin>
<plugin filename="CameraTracking" name="Camera Tracking">
<ignition-gui>
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</gz-gui>
</plugin>
<plugin filename="MarkerManager" name="Marker manager">
<ignition-gui>
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</gz-gui>
</plugin>
<plugin filename="SelectEntities" name="Select Entities">
<ignition-gui>
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</gz-gui>
</plugin>

<plugin filename="Spawn" name="Spawn Entities">
<ignition-gui>
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</gz-gui>
</plugin>

<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
<ignition-gui>
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</gz-gui>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<gz-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
Expand All @@ -132,7 +132,7 @@
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
</gz-gui>

<play_pause>true</play_pause>
<step>true</step>
Expand All @@ -143,7 +143,7 @@

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<gz-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
Expand All @@ -156,7 +156,7 @@
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
</gz-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
Expand All @@ -166,7 +166,7 @@

<!-- Insert simple shapes -->
<plugin filename="Shapes" name="Shapes">
<ignition-gui>
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">0</property>
Expand All @@ -175,12 +175,12 @@
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</ignition-gui>
</gz-gui>
</plugin>

<!-- Insert lights -->
<plugin filename="Lights" name="Lights">
<ignition-gui>
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">250</property>
<property key="y" type="double">0</property>
Expand All @@ -189,12 +189,12 @@
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</ignition-gui>
</gz-gui>
</plugin>

<!-- Translate / rotate -->
<plugin filename="TransformControl" name="Transform control">
<ignition-gui>
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">50</property>
Expand All @@ -203,15 +203,15 @@
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</ignition-gui>
</gz-gui>

<!-- disable legacy features used to connect this plugin to GzScene3D -->
<legacy>false</legacy>
</plugin>

<!-- Screenshot -->
<plugin filename="Screenshot" name="Screenshot">
<ignition-gui>
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">250</property>
<property key="y" type="double">50</property>
Expand All @@ -220,12 +220,12 @@
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</ignition-gui>
</gz-gui>
</plugin>

<!-- Copy/Paste -->
<plugin filename="CopyPaste" name="CopyPaste">
<ignition-gui>
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">300</property>
<property key="y" type="double">50</property>
Expand All @@ -234,21 +234,21 @@
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</ignition-gui>
</gz-gui>
</plugin>

<!-- Inspector -->
<plugin filename="ComponentInspector" name="Component inspector">
<ignition-gui>
<gz-gui>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
</gz-gui>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<ignition-gui>
<gz-gui>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
</gz-gui>
</plugin>
14 changes: 7 additions & 7 deletions sciurus17_gazebo/launch/sciurus17_with_table.launch.py
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Gazeboシミュレータが起動中に落ちました。
@chama1176 さんの環境では正常に起動しましたでしょうか?

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こちらの環境だとGUIまわりでエラーが起きていているようです。

[gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m
[gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m
[gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m
[gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m
[gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m
[gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m
[gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m
[gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m
[gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m
[gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m
[gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1309] �[0m�[1;31mUnable to create the rendering window after [�[0m�[1;31m11�[0m�[1;31m] attempts.�[0m�[1;31m�[0m
[gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1191] �[0m�[1;31mFailed to create dummy render window.�[0m�[1;31m�[0m
[gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1192] �[0m�[1;31mPlease see the troubleshooting page for possible fixes: �[0m�[1;31mhttps://gazebosim.org/docs/fortress/troubleshooting�[0m�[1;31m�[0m

WaylandでなくXorgに切り替えると上記エラーは表示されなくなりましたが、limitsとmimic jointまわりでエラーが出ています。

[gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-2.8797932657906435"' and max: '2.8797932657906435"'] within ros2_control tag inside the URDF. Skipping it
[gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-1.5707963267948966"' and max: '0.9599310885968813"'] within ros2_control tag inside the URDF. Skipping it
[gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-1.5707963267948966"' and max: '1.5707963267948966"'] within ros2_control tag inside the URDF. Skipping it
[gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-1.6057029118347832"' and max: '0.0"'] within ros2_control tag inside the URDF. Skipping it
[gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-1.5707963267948966"' and max: '1.5707963267948966"'] within ros2_control tag inside the URDF. Skipping it
[gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-0.00017453292519943296"' and max: '2.7401669256310974"'] within ros2_control tag inside the URDF. Skipping it
[gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-1.5707963267948966"' and max: '1.5707963267948966"'] within ros2_control tag inside the URDF. Skipping it
[gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-2.1467549799530254"' and max: '1.0471975511965976"'] within ros2_control tag inside the URDF. Skipping it
[gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-2.9670597283903604"' and max: '2.9670597283903604"'] within ros2_control tag inside the URDF. Skipping it
[gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-0.0008726646259971648"' and max: '1.5009831567151235"'] within ros2_control tag inside the URDF. Skipping it
[gz sim -r-1] terminate called after throwing an instance of 'std::runtime_error'
[gz sim -r-1]   what():  Joint 'r_gripper_mimic_joint' has mimic attribute not set to false: Activated mimic joints cannot have command interfaces.
[gz sim -r-1] Stack trace (most recent call last) in thread 13484:
[gz sim -r-1] #18   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
[gz sim -r-1] #17   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7184bd129c3b, in 
[gz sim -r-1] #16   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7184bd09ca93, in 
[gz sim -r-1] #15   Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7184b7eecdb3, in 
[gz sim -r-1] #14   Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x718480918df6, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long)
[gz sim -r-1] #13   Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x718480907bf9, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
[gz sim -r-1] #12   Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7184809074ca, in rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>)
[gz sim -r-1] #11   Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x7184a4dafda4, in 
[gz sim -r-1] #10   Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x7184a4d3f17a, in controller_manager::ControllerManager::robot_description_callback(std_msgs::msg::String_<std::allocator<void> > const&)
[gz sim -r-1] #9    Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x7184a4d4497d, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[gz sim -r-1] #8    Object "/opt/ros/jazzy/lib/libgz_ros2_control-system.so", at 0x7184a56d31e9, in 
[gz sim -r-1] #7    Object "/opt/ros/jazzy/lib/libhardware_interface.so", at 0x7184a4c2e195, in 
[gz sim -r-1] #6    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7184b7ebb390, in __cxa_throw
[gz sim -r-1] #5    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7184b7ea5a54, in std::terminate()
[gz sim -r-1] #4    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7184b7ebb0d9, in 
[gz sim -r-1] #3    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7184b7ea5ff4, in 
[gz sim -r-1] #2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7184bd0288fe, in abort
[gz sim -r-1] #1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7184bd04526d, in gsignal
[gz sim -r-1] #0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7184bd09eb1c, in pthread_kill
[gz sim -r-1] Aborted (Signal sent by tkill() 13182 1000)

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PR作成時は私の方では動作確認できていました。
変更入っている可能性もあるので再度確認してみます

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私の環境でも落ちる現象が再現しました
確認します

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PR作成時（おそらくv8.5.0）からv8.6.0になって差分が大きそうなので、今のバージョンで動くように修正します

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物理エンジンにmimic contraintsがないエラー
は公式でも認識されているようです。
ros-controls/gz_ros2_control#340
DART使う場合は無視してとのことのようです。bulletに変更することで回避できるようです

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@chama1176 chama1176 Nov 19, 2024 •
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gz_frame_idが廃止されているかもしれない

に関してですが、下記の通り、SDF側に定義されていないだけのようなので、問題はなさそうです。
gazebosim/gz-sensors#306

探している中で見つけましたが、今後はgz_frame_id等は廃止になってframe_idに統一されるようです。
gazebosim/sdformat#1454
ただしsdformat15からの変更のようなので、sdformat14を使っている現在のgz-sim8.x.xではframe_idで設定してもワーニングが出ます。

こちらのコミットでframe_idに変更しました
rt-net/sciurus17_description@0bb3899

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GripperActionControllerの廃止に関してはmsg型なども変わり変更量がさすがに多いので、
調査して別PRで対応検討とさせていただきたいです
ros-controls/ros2_controllers#1002

ちょうどこのPRを作成したあたりのタイミングでmainにmergeされた新機能のようです

こちらにIssue起案しました
#163

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@Kuwamai
記載いただいた事項に関して状況確認と修正行いましたので、改めて確認いただけると幸いです

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@Kuwamai Kuwamai Nov 20, 2024 •
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@chama1176
ご確認ありがとうございます！
エラーが出ていないことを確認しました。
先にdescriptionパッケージのほうApproveします

Original file line number Diff line number Diff line change
Expand Up @@ -40,22 +40,22 @@ def generate_launch_description():
)

# PATHを追加で通さないとSTLファイルが読み込まれない
env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH': os.environ['LD_LIBRARY_PATH'],
'IGN_GAZEBO_RESOURCE_PATH': os.path.dirname(
env = {'GZ_SIM_SYSTEM_PLUGIN_PATH': os.environ['LD_LIBRARY_PATH'],
'GZ_SIM_RESOURCE_PATH': os.path.dirname(
get_package_share_directory('sciurus17_description'))}
world_file = os.path.join(
get_package_share_directory('sciurus17_gazebo'), 'worlds', 'table.sdf')
gui_config = os.path.join(
get_package_share_directory('sciurus17_gazebo'), 'gui', 'gui.config')
# -r オプションで起動時にシミュレーションをスタートしないと、コントローラが起動しない
ign_gazebo = ExecuteProcess(
cmd=['ign gazebo -r', world_file, '--gui-config', gui_config],
gz_sim = ExecuteProcess(
cmd=['gz sim -r', world_file, '--gui-config', gui_config],
output='screen',
additional_env=env,
shell=True
)

ignition_spawn_entity = Node(
gz_sim_spawn_entity = Node(
package='ros_gz_sim',
executable='create',
output='screen',
Expand Down Expand Up @@ -136,8 +136,8 @@ def generate_launch_description():
SetParameter(name='use_sim_time', value=True),
declare_use_head_camera,
declare_use_chest_camera,
ign_gazebo,
ignition_spawn_entity,
gz_sim,
gz_sim_spawn_entity,
spawn_joint_state_broadcaster,
spawn_right_arm_controller,
spawn_right_gripper_controller,
Expand Down
12 changes: 6 additions & 6 deletions sciurus17_gazebo/worlds/table.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,16 +6,16 @@
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="ignition-gazebo-physics-system"
name="ignition::gazebo::systems::Physics">
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="ignition-gazebo-user-commands-system"
name="ignition::gazebo::systems::UserCommands">
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="ignition-gazebo-scene-broadcaster-system"
name="ignition::gazebo::systems::SceneBroadcaster">
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>

<include>
Expand Down
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