Discussion - Changes for running mobile robot on Humble/Jammy

Blog post coming soon

This is the discussion topic for the video and blog post linked above. Please keep all replies relevant to the content, otherwise create a new topic.

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I have a question about using the new Gazebo Sim vs existing Ignition Gazebo. As you are probably aware, Open Robotics is encouraging migrating applications to Gazebo Sim, with warnings that only one or the other be installed on a machine. I observed that your existing tutorials mostly in Foxy , all extremely informative I should add, are written to use Ignition Gazebo platform. As I am just getting started learning to use Gazebo on my Humble based robot experimenting, I should install and use Gazebo Sim. But I cannot use the many written code examples on a Gazebo Sim machine. So have you researched what changes might be required, and thought about specific procedures to migrate existing Ignition Gazebo code examples to run in the current released Gazebo Sim Garden. I suspect this is a royal pain in the neck ! While there are several examples, including a diff-drive in the Gazebo Sim GitHub - gazebosim/ros_gz: Integration between ROS (1 and 2) and Gazebo simulation repositories which could assist a code migration, the work seems like a daunting task. There are a few of us I am in dialog with are similarly exploring this and would appreciate any thoughts.

So, may I add some results of a discussion in a Forum today with another experimenter researching this Ignition gazebo_ros_packages to ros_gz migration process. We believe the key operative Articubot gazebo_ros file to migrate is /launch/launch_sim.launch.py that launches the Ignition “gazebo_ros gazebo.launch.py” and other Nodes. Other scripts may require revision too. A comparable “gz_sim ros_gz” example launch file repository is (ros_gz_project_template/diff_drive.launch.py at main · gazebosim/ros_gz_project_template · GitHub) . This launches "gz_sim.launch.py and other relevant Nodes , such as rviz and robot_state_publisher. We are thinking to Fork the articubot_one to my repository ARLunan, create a new Branch “humble-gz-sim” and try migration the code to simulate the Articubot Robot. From there we each have other Robot projects to apply what we learn. Appreciate thoughts.

Hey, thanks for your great question!
The whole Ignition/Gazebo thing has been a mess of confusion, so I just want to clear up a few things (source here).

  • My tutorials have been using what is usually called “Gazebo Classic” (version 11)
  • The “new” simulator was called Ignition Gazebo as part of a broader set of “Ignition” tools
  • Due to a name conflict, that set of tools has now been renamed “Gazebo” with the simulator being “Gazebo Sim”

I had actually expected that Gazebo Classic wouldn’t run on Jammy and so I expected to upgrade the simulator as part of this tutorial, but I was pleasantly surprised to find…everything worked ok.
I do still plan to upgrade to Gazebo Sim, but the priority has dropped for me as there are some other projects coming up I want to focus on.

Your comments in the second post are correct! So that example you’ve linked is roughly equivalent to my launch_sim.launch.py, the key element being that it includes ros_gz_sim/launch/gz_sim.launch.py rather than the old Gazebo one that I include. I haven’t really used Gazebo Sim, but most things should work the same. One thing that may (hopefully won’t) require tweaking is ros2_control. That’s actually the reason I didn’t use Ignition for these tutorials from the start - when I was writing them the ros2_control support in Ignition was pretty rough. I believe that is all working now though.

I hope that helps and if you do finish the upgrade please report back here so others and myself can learn from it! :smiley:

Thanks for the informative response that will guide me for my next actions. The critical package difference between Classic Ignition and Gazebo Sim (Garden) platforms is no ros-simulation/gazebo_ros_packages and gazebo_ros packages in Classic. Gazebo Sim Platform has gazebosim/ros_gz package - different package names and underlying scrips, though a careful look inside shows similar algorithms. The thing that forced the migration issue for me was that I’m using a Mac M1 with Parallels Virtual UB22 Desktop, fast but its an arm64 (aarch64) cpu with no Classic Gazebo packages released :frowning_face: So I believe a cautious plan is to get the Gazebo Sim ros_gz diff_drive template working, fork it with a new branch, and carefully modify & copy the articubot code elements (Worlds, Descriptions, ros_control, joystick and other hardware elements) one at a time, and develop a new sim launch script that has same functionality - sounds like a good spring project. BTW: I just bought the Waveshare Touchscreen demonstrated in a recent video-like it already . My other project is refurbishing a 12 year old Turtlebot with Jammy running on a Raspberry Pi which works great thanks to your RPLidar other tutorials. Now I can add \cmd_vel controlled googly eyes.

Interesting, yeah I am vaguely aware of the lack of arm64 Gazebo from people who are trying to run it on a Pi. I hadn’t even thought about it affecting ARM Macs, although I feel like that whole platform is pretty experimental (with a lot of potential though). I believe tier 1 support for ROS on Mac OS has been dropped though? (could be wrong).

I wasn’t aware of those package naming differences as I haven’t really looked into it myself, so I’m keen to hear how you go with it all!

And I’m glad you like the screen, hopefully you can bring some life to an old robot :wink:

Thanks: Little clarification: My Development Desktop is not native Mac M1 OS. It’s a Ubuntu 22.04 VM running on the MAC M1, meaning that the CPU is a arm64/aarch64 like a Jason Tx2 or Nano and Raspberry Pi 4. So I should be able and can run ROS2 and most packages (except Ignition Gazebo ;( ) installed from arm64 binaries. So on this matter, I’ve posted a Classic Gazebo to gazebo sim question on “answers.gazebosim.org” asking for ideas to migrate from gazebo_ros_packages / gazebo_ros. No response yet.

Ah yes sorry I missed that detail in your original post.
Have you had any luck getting it to work since?

After a couple weeks, no answers to install and run Gazebo Garden and associated gazebosim/ros_gz install and run from the community . But I was able to get a procedure from the leader of a Meetup forum I regularly call into [ROS 2 to Nav2 with a dash of Simulation)] (Artificial Intelligence and Machine Learning for Robotics (Houston, TX) | Meetup). On a Ubuntu 22.04/ROS 2 Humble system , best to remove any existing gz-garden, ignition-fortress, or ros_gz previously installed by the ROS 2 Desktop Installation, and install a clean Gazebo Fortress from the available Binaries and follow tutorials here: Gazebo Fortress Getting Started . Install Fortress . Load ros_gz: $ source /opt/ros/humble/setup.sh , sudo apt install https://sudo apt-get install ros-humble-ros-gz) . Try running thru the steps Setting up a Robot Simulator . This starts up ign gazebo GUI, configures ROS 2 and teleop, Visualizes lidar data in ROS 2 with the ros_gz_bridge . I have not yet run the diffdrive template example

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hi josh thx for your effort !!

i need your help i rly tried everything but slowly im starting banging my head against the wall haha so my problem is that im not able to launch the cam via V4L2 node its launching everything until “starting the camera”(i will post my traceback) but its not able to find the calibration file so when i launch the rqt viewer it shows me no image!

im using a pi4 with ubuntu mate 22.04 version and ros humble there is no raspistill and no libcamera i tried everything reinstalling all but still nothing happening!

all my codes in terminal when i launch them!

**vcgencmd get_camera**
supported=1 detected=1, libcamera interfaces=0
libcamera-hello: command not found
**when i launch the v4l2 node with your code line for humble!!**

[INFO] [1685308312.016667854] [v4l2_camera]: Driver: bm2835 mmal
[INFO] [1685308312.017127366] [v4l2_camera]: Version: 331618
[INFO] [1685308312.017204633] [v4l2_camera]: Device: mmal service 16.1
[INFO] [1685308312.017255898] [v4l2_camera]: Location: platform:bcm2835-v4l2-0
[INFO] [1685308312.017306847] [v4l2_camera]: Capabilities:
[INFO] [1685308312.017353852] [v4l2_camera]:   Read/write: YES
[INFO] [1685308312.017401506] [v4l2_camera]:   Streaming: YES
[INFO] [1685308312.017468031] [v4l2_camera]: Current pixel format: YUYV @ 640x480
[INFO] [1685308312.018461025] [v4l2_camera]: Available pixel formats: 
[INFO] [1685308312.018520142] [v4l2_camera]:   YU12 - Planar YUV 4:2:0
[INFO] [1685308312.018569925] [v4l2_camera]:   YUYV - YUYV 4:2:2
[INFO] [1685308312.018618208] [v4l2_camera]:   RGB3 - 24-bit RGB 8-8-8
[INFO] [1685308312.018663639] [v4l2_camera]:   JPEG - JFIF JPEG
[INFO] [1685308312.018708496] [v4l2_camera]:   H264 - H.264
[INFO] [1685308312.018755223] [v4l2_camera]:   MJPG - Motion-JPEG
[INFO] [1685308312.018801876] [v4l2_camera]:   YVYU - YVYU 4:2:2
[INFO] [1685308312.018845992] [v4l2_camera]:   VYUY - VYUY 4:2:2
[INFO] [1685308312.018890052] [v4l2_camera]:   UYVY - UYVY 4:2:2
[INFO] [1685308312.018934075] [v4l2_camera]:   NV12 - Y/CbCr 4:2:0
[INFO] [1685308312.018978006] [v4l2_camera]:   BGR3 - 24-bit BGR 8-8-8
[INFO] [1685308312.019021955] [v4l2_camera]:   YV12 - Planar YVU 4:2:0
[INFO] [1685308312.019065774] [v4l2_camera]:   NV21 - Y/CrCb 4:2:0
[INFO] [1685308312.019109834] [v4l2_camera]:   RX24 - 32-bit XBGR 8-8-8-8
[INFO] [1685308312.019156487] [v4l2_camera]: Available controls: 
[INFO] [1685308312.019217068] [v4l2_camera]:   Brightness (1) = 50
[INFO] [1685308312.019276222] [v4l2_camera]:   Contrast (1) = 0
[INFO] [1685308312.019333599] [v4l2_camera]:   Saturation (1) = 0
[INFO] [1685308312.019394827] [v4l2_camera]:   Red Balance (1) = 1000
[INFO] [1685308312.019452259] [v4l2_camera]:   Blue Balance (1) = 1000
[INFO] [1685308312.019506635] [v4l2_camera]:   Horizontal Flip (2) = 0
[INFO] [1685308312.019562993] [v4l2_camera]:   Vertical Flip (2) = 0
[INFO] [1685308312.019616980] [v4l2_camera]:   Power Line Frequency (3) = 1
[INFO] [1685308312.019670912] [v4l2_camera]:   Sharpness (1) = 0
[INFO] [1685308312.019726177] [v4l2_camera]:   Color Effects (3) = 0
[INFO] [1685308312.019780683] [v4l2_camera]:   Rotate (1) = 0
[INFO] [1685308312.019840671] [v4l2_camera]:   Color Effects, CbCr (1) = 32896
[ERROR] [1685308312.019909919] [v4l2_camera]: Failed getting value for control 10027009: Permission denied (13); returning 0!
[INFO] [1685308312.019962776] [v4l2_camera]:   Codec Controls (6) = 0
[INFO] [1685308312.020020708] [v4l2_camera]:   Video Bitrate Mode (3) = 0
[INFO] [1685308312.020078529] [v4l2_camera]:   Video Bitrate (1) = 10000000
[INFO] [1685308312.020134368] [v4l2_camera]:   Repeat Sequence Header (2) = 0
[ERROR] [1685308312.020191430] [v4l2_camera]: Failed getting value for control 10029541: Permission denied (13); returning 0!
[INFO] [1685308312.020240843] [v4l2_camera]:   Force Key Frame (4) = 0
[INFO] [1685308312.020331982] [v4l2_camera]:   H264 Minimum QP Value (1) = 0
[INFO] [1685308312.020415213] [v4l2_camera]:   H264 Maximum QP Value (1) = 0
[INFO] [1685308312.020476219] [v4l2_camera]:   H264 I-Frame Period (1) = 60
[INFO] [1685308312.020535466] [v4l2_camera]:   H264 Level (3) = 11
[INFO] [1685308312.020591676] [v4l2_camera]:   H264 Profile (3) = 4
[ERROR] [1685308312.020647052] [v4l2_camera]: Failed getting value for control 10092545: Permission denied (13); returning 0!
[INFO] [1685308312.020695743] [v4l2_camera]:   Camera Controls (6) = 0
[INFO] [1685308312.020751711] [v4l2_camera]:   Auto Exposure (3) = 0
[INFO] [1685308312.020808217] [v4l2_camera]:   Exposure Time, Absolute (1) = 1000
[INFO] [1685308312.020864186] [v4l2_camera]:   Exposure, Dynamic Framerate (2) = 0
[INFO] [1685308312.020918933] [v4l2_camera]:   Auto Exposure, Bias (9) = 12
[INFO] [1685308312.020974124] [v4l2_camera]:   White Balance, Auto & Preset (3) = 1
[INFO] [1685308312.021028667] [v4l2_camera]:   Image Stabilization (2) = 0
[INFO] [1685308312.021195962] [v4l2_camera]:   ISO Sensitivity (9) = 0
[INFO] [1685308312.021268822] [v4l2_camera]:   ISO Sensitivity, Auto (3) = 1
[INFO] [1685308312.021333199] [v4l2_camera]:   Exposure, Metering Mode (3) = 0
[INFO] [1685308312.021393742] [v4l2_camera]:   Scene Mode (3) = 0
[ERROR] [1685308312.021457842] [v4l2_camera]: Failed getting value for control 10289153: Permission denied (13); returning 0!
[INFO] [1685308312.021509088] [v4l2_camera]:   JPEG Compression Controls (6) = 0
[INFO] [1685308312.021569094] [v4l2_camera]:   Compression Quality (1) = 30
[WARN] [1685308312.024481365] [v4l2_camera]: Control type not currently supported: 6, for control: Codec Controls
[WARN] [1685308312.024844385] [v4l2_camera]: Control type not currently supported: 4, for control: Force Key Frame
[WARN] [1685308312.025328714] [v4l2_camera]: Control type not currently supported: 6, for control: Camera Controls
[WARN] [1685308312.025656767] [v4l2_camera]: Control type not currently supported: 9, for control: Auto Exposure, Bias
[WARN] [1685308312.025929314] [v4l2_camera]: Control type not currently supported: 9, for control: ISO Sensitivity
[WARN] [1685308312.026256978] [v4l2_camera]: Control type not currently supported: 6, for control: JPEG Compression Controls
[INFO] [1685308312.026435330] [v4l2_camera]: Starting camera
**sudo apt update**
Hit:1 http://raspbian.raspberrypi.org/raspbian bullseye InRelease
Hit:2 http://ports.ubuntu.com jammy InRelease                                  
Get:3 http://ports.ubuntu.com jammy-updates InRelease [119 kB]                 
Hit:4 https://packages.microsoft.com/repos/code stable InRelease               
Get:5 http://ports.ubuntu.com jammy-security InRelease [110 kB]                
Hit:6 http://ports.ubuntu.com jammy-backports InRelease        
Hit:7 http://packages.ros.org/ros2/ubuntu jammy InRelease
Fetched 229 kB in 3s (72.8 kB/s)
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
All packages are up to date.

That output frp, v4l2_camera actually seems normal to me! Not having the calibration is ok, it should still publish the image topic, but I think if you use a “Camera” view in RViz it won’t work as it can’t project the image into 3D space.

So just confirming, you run the driver and then run rqt_image_view - do the topics not show up? Or do they show up but you can’t get data on them?

Yes the topics show up all of them but I get no image only grey black :confused:

Josh, Following up on my previous dialog on Gazebo Sim, with the collaboration of other experimenters I’m communication with, we made some progress in defining how to migrate Classic Gazebo functions to an equivalent in Gazebo Sim. Its tutorials Robot simulation (Gazebo) walk the user though to display Gazebo Simulations using built in “canned” models, but no apparent way to use these packages and scripts with existing Robot Models. We realized the key to displaying existing Robots described by xacro and urdf files in the current gazebo sim, namely Gazebo Fortress (NOT Garden which doesn’t play well in Humble) in simulation is in the packages under gazebosim/ros_gz, specifically : ros_gz_sim_demos .The launch file “joint_states.launch.py” that spawns a Node that contains a robot .xacro and robot_description. So we feel that this launch file, with suitable specific revisions, in a Classic Simulation project would replace the code launched for a Robot Simulation coded in the Classic ros2 gazebo_ros gazebo.launch.py and ros2 run gazebo_ros spawn_untity.py files. That said there is some tricky bits required to install Gazebo Sim Fortress and get it running in a ROS Humble System. We are working out the details and should be able to post something, hopefully “soon” . Ross

Hi ı have a issue when ı launch launch_robot.launch.py

ros2 launch articubot_one launch_robot.launch.py 
[INFO] [launch]: All log files can be found below /home/samet/.ros/log/2023-06-14-22-30-20-346455-baba-41858
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [41860]
[INFO] [twist_mux-2]: process started with pid [41862]
[twist_mux-2] [INFO] [1686771020.580608893] [twist_mux]: Topic handler 'topics.joystick' subscribed to topic 'cmd_vel_joy': timeout = 0.500000s , priority = 100.
[twist_mux-2] [INFO] [1686771020.581419100] [twist_mux]: Topic handler 'topics.navigation' subscribed to topic 'cmd_vel': timeout = 0.500000s , priority = 10.
[twist_mux-2] [INFO] [1686771020.581566010] [twist_mux]: Topic handler 'topics.tracker' subscribed to topic 'cmd_vel_tracker': timeout = 0.500000s , priority = 20.
[robot_state_publisher-1] Link base_footprint had 0 children
[robot_state_publisher-1] Link chassis had 4 children
[robot_state_publisher-1] Link camera_link had 1 children
[robot_state_publisher-1] Link camera_link_optical had 0 children
[robot_state_publisher-1] Link caster_wheel had 0 children
[robot_state_publisher-1] Link face_link had 0 children
[robot_state_publisher-1] Link laser_frame had 0 children
[robot_state_publisher-1] Link left_wheel had 0 children
[robot_state_publisher-1] Link right_wheel had 0 children
[robot_state_publisher-1] [INFO] [1686771020.583632609] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1686771020.583688386] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1686771020.583694082] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1686771020.583698036] [robot_state_publisher]: got segment camera_link_optical
[robot_state_publisher-1] [INFO] [1686771020.583703522] [robot_state_publisher]: got segment caster_wheel
[robot_state_publisher-1] [INFO] [1686771020.583707576] [robot_state_publisher]: got segment chassis
[robot_state_publisher-1] [INFO] [1686771020.583711910] [robot_state_publisher]: got segment face_link
[robot_state_publisher-1] [INFO] [1686771020.583716004] [robot_state_publisher]: got segment laser_frame
[robot_state_publisher-1] [INFO] [1686771020.583719348] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-1] [INFO] [1686771020.583722441] [robot_state_publisher]: got segment right_wheel
[INFO] [ros2_control_node-3]: process started with pid [41895]
[INFO] [spawner-4]: process started with pid [41897]
[INFO] [spawner-5]: process started with pid [41899]
[ros2_control_node-3] [INFO] [1686771024.527552570] [resource_manager]: Loading hardware 'RealRobot' 
[ros2_control_node-3] terminate called after throwing an instance of 'pluginlib::LibraryLoadException'
[ros2_control_node-3]   what():  According to the loaded plugin descriptions the class diffdrive_arduino/DiffDriveArduino with base class type hardware_interface::SystemInterface does not exist. Declared types are  diffdrive_arduino/DiffDriveArduinoHardware fake_components/GenericSystem mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem test_system
[ros2_control_node-3] Stack trace (most recent call last):
[ros2_control_node-3] #16   Object "", at 0xffffffffffffffff, in 
[ros2_control_node-3] #15   Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5621edd2bd84, in 
[ros2_control_node-3] #14   Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7fee30a29e3f]
[ros2_control_node-3] #13   Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7fee30a29d8f]
[ros2_control_node-3] #12   Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5621edd2b89e, in 
[ros2_control_node-3] #11   Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7fee313e2171, in controller_manager::ControllerManager::ControllerManager(std::shared_ptr<rclcpp::Executor>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&)
[ros2_control_node-3] #10   Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7fee313e1257, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[ros2_control_node-3] #9    Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7fee31085207, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)
[ros2_control_node-3] #8    Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7fee3108d856, in 
[ros2_control_node-3] #7    Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7fee31064858, in 
[ros2_control_node-3] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fee30eae517, in __cxa_throw
[ros2_control_node-3] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fee30eae2b6, in std::terminate()
[ros2_control_node-3] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fee30eae24b, in 
[ros2_control_node-3] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7fee30ea2bbd, in 
[ros2_control_node-3] #2    Source "./stdlib/abort.c", line 79, in abort [0x7fee30a287f2]
[ros2_control_node-3] #1    Source "../sysdeps/posix/raise.c", line 26, in raise [0x7fee30a42475]
[ros2_control_node-3] #0  | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[ros2_control_node-3]     | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[ros2_control_node-3]       Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7fee30a96a7c]
[ros2_control_node-3] Aborted (Signal sent by tkill() 41895 1000)
[ERROR] [ros2_control_node-3]: process has died [pid 41895, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_u5sstrjv --params-file /home/samet/develop/articubot_ws/install/articubot_one/share/articubot_one/config/my_controllers.yaml'].
[spawner-4] [INFO] [1686771026.749255351] [spawner_joint_broad]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1686771026.749354926] [spawner_diff_cont]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1686771028.764966284] [spawner_diff_cont]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1686771028.765053858] [spawner_joint_broad]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1686771030.779927911] [spawner_diff_cont]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1686771030.780130658] [spawner_joint_broad]: Waiting for '/controller_manager' node to exist
[spawner-4] [INFO] [1686771032.794488801] [spawner_joint_broad]: Waiting for '/controller_manager' node to exist
[spawner-5] [INFO] [1686771032.794564345] [spawner_diff_cont]: Waiting for '/controller_manager' node to exist
[spawner-4] [ERROR] [1686771034.807470987] [spawner_joint_broad]: Controller manager not available
[spawner-5] [ERROR] [1686771034.807470927] [spawner_diff_cont]: Controller manager not available
[ERROR] [spawner-5]: process has died [pid 41899, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner diff_cont --ros-args'].
[ERROR] [spawner-4]: process has died [pid 41897, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_broad --ros-args'].

Hi Josh and thanks for your support!!

I have a issue, I don’t know if it would be a problem.
I’ve changed my project to humble, but when I run my robot and launch slam toolbox or rviz, it drop a meesage: Message Filter dropping message: frame ‘laser_frame’ at time 1687033337.929 for reason ‘discarding message because the queue is full’.

iam using ros2 humble from initial of the mobile robot tutorial. when i try to spawn robot in gazebo it is not spawn in the gazebo simulator now what can i do?

Bro, I have the same issue.

Could you solve it? I am using an arduino uno

I just found the solution.

1)Change de “device param” at your_package_path/description/ros2_control to /dev/seraial/by-id/$(yourpathtoarduinodevice)
2) go to your ws_path
3) colcon build --symlink-install

It worked for me.

Hey Adrian!

I have the same issue. How do i find the path by-id? And is your device actually located under the folder /dev/serial/ ? All my serial connections are listed under /dev

Never mind, i have my arduino nano in the directory you mentioned, but it does not work for me :confused: