Discussion - Running ros2_control on a real robot (Making a Mobile Robot Pt 13)

Articulated Robotics Content Discussions
#77

Hi,
I’m running directly on arduino and have the same issue.

ros2@robot:/home/robot_ws$ ros2 launch lunorobot launch_robot.launch.py
[INFO] [launch]: All log files can be found below /home/ros2/.ros/log/2023-10-03-17-12-02-039075-robot-4349
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [4350]
[robot_state_publisher-1] [INFO] [1696345922.974149735] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1696345922.974446916] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1696345922.974494767] [robot_state_publisher]: got segment caster_wheel
[robot_state_publisher-1] [INFO] [1696345922.974526341] [robot_state_publisher]: got segment chassis
[robot_state_publisher-1] [INFO] [1696345922.974552155] [robot_state_publisher]: got segment laser_frame
[robot_state_publisher-1] [INFO] [1696345922.974576322] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-1] [INFO] [1696345922.974600988] [robot_state_publisher]: got segment right_wheel
[INFO] [ros2_control_node-2]: process started with pid [4388]
[INFO] [spawner-3]: process started with pid [4390]
[INFO] [spawner-4]: process started with pid [4392]
[ros2_control_node-2] [INFO] [1696345928.903734258] [resource_manager]: Loading hardware ‘RealRobot’
[ros2_control_node-2] terminate called after throwing an instance of ‘pluginlib::LibraryLoadException’
[ros2_control_node-2] 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-2] Stack trace (most recent call last):
[ros2_control_node-2] #16 Object “/usr/lib/aarch64-linux-gnu/ld-linux-aarch64.so.1”, at 0xffffffffffffffff, in
[ros2_control_node-2] #15 Object “/opt/ros/humble/lib/controller_manager/ros2_control_node”, at 0xaaaaea4c2c6f, in
[ros2_control_node-2] #14 Object “/usr/lib/aarch64-linux-gnu/libc.so.6”, at 0xffff9fb674cb, in __libc_start_main
[ros2_control_node-2] #13 Object “/usr/lib/aarch64-linux-gnu/libc.so.6”, at 0xffff9fb673fb, in
[ros2_control_node-2] #12 Object “/opt/ros/humble/lib/controller_manager/ros2_control_node”, at 0xaaaaea4c2767, in
[ros2_control_node-2] #11 Object “/opt/ros/humble/lib/libcontroller_manager.so”, at 0xffffa01dd717, in controller_manager::ControllerManager::ControllerManager(std::shared_ptrrclcpp::Executor, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, rclcpp::NodeOptions const&)
[ros2_control_node-2] #10 Object “/opt/ros/humble/lib/libcontroller_manager.so”, at 0xffffa01dcb3f, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)
[ros2_control_node-2] #9 Object “/opt/ros/humble/lib/libhardware_interface.so”, at 0xffff9f9d7237, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool)
[ros2_control_node-2] #8 Object “/opt/ros/humble/lib/libhardware_interface.so”, at 0xffff9f9d59e3, in
[ros2_control_node-2] #7 Object “/opt/ros/humble/lib/libhardware_interface.so”, at 0xffff9f9e16b7, in
[ros2_control_node-2] #6 Object “/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30”, at 0xffff9fdc2e03, in __cxa_throw
[ros2_control_node-2] #5 Object “/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30”, at 0xffff9fdc2b1f, in std::terminate()
[ros2_control_node-2] #4 Object “/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30”, at 0xffff9fdc2abb, in
[ros2_control_node-2] #3 Object “/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30”, at 0xffff9fdc62db, in __gnu_cxx::__verbose_terminate_handler()
[ros2_control_node-2] #2 Object “/usr/lib/aarch64-linux-gnu/libc.so.6”, at 0xffff9fb6712f, in abort
[ros2_control_node-2] #1 Object “/usr/lib/aarch64-linux-gnu/libc.so.6”, at 0xffff9fb7a67b, in raise
[ros2_control_node-2] #0 Object “/usr/lib/aarch64-linux-gnu/libc.so.6”, at 0xffff9fbbf200, in
[ros2_control_node-2] Aborted (Signal sent by tkill() 4388 1000)
[ERROR] [ros2_control_node-2]: process has died [pid 4388, exit code -6, cmd ‘/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_izmqttko --params-file /home/robot_ws/install/lunorobot/share/lunorobot/config/my_controllers.yaml’].
[spawner-3] [INFO] [1696345932.213156760] [spawner_joint_broad]: Waiting for ‘/controller_manager’ node to exist
[spawner-4] [INFO] [1696345932.541984436] [spawner_diff_cont]: Waiting for ‘/controller_manager’ node to exist
[spawner-3] [INFO] [1696345934.271893949] [spawner_joint_broad]: Waiting for ‘/controller_manager’ node to exist
[spawner-4] [INFO] [1696345934.602429954] [spawner_diff_cont]: Waiting for ‘/controller_manager’ node to exist
[spawner-3] [INFO] [1696345936.328438815] [spawner_joint_broad]: Waiting for ‘/controller_manager’ node to exist
[spawner-4] [INFO] [1696345936.660799370] [spawner_diff_cont]: Waiting for ‘/controller_manager’ node to exist

Could you please help?

Discussion - Changes for running mobile robot on Humble/Jammy
#78

Hi,

Solution found for Humble version
There are 3 issues in ros2_control.xacro file:

  1. the name of the plugin should be diffdrive_arduino/DiffDriveArduinoHardware
  2. the name of the timeout parameter should be timeout_ms
  3. the sequence of the state_interface should be position then velocity, see correct xml code below:
<ros2_control name="RealRobot" type="system">
        <hardware>
            <plugin>diffdrive_arduino/DiffDriveArduinoHardware</plugin>
            <param name="left_wheel_name">left_wheel_joint</param>
            <param name="right_wheel_name">right_wheel_joint</param>
            <param name="loop_rate">30</param>
            <param name="device">/dev/ttyUSB0</param>
            <param name="baud_rate">57600</param>
            <param name="timeout_ms">1000</param>
            <param name="enc_counts_per_rev">17280</param>
        </hardware>
        <!-- Note everything below here is the same as the Gazebo one -->
        <joint name="left_wheel_joint">
            <command_interface name="velocity">
                <param name="min">-10</param>
                <param name="max">10</param>
            </command_interface>
            <state_interface name="position"/>
            <state_interface name="velocity"/>
        </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="position"/>
            <state_interface name="velocity"/>
        </joint>
    </ros2_control> 
</robot>
1 Like
Discussion - Changes for running mobile robot on Humble/Jammy
#79

Hi Josh,
I find your videos awsome!!!
Would you mind to plan a topic also using some kind of 9dof sensor (for example bno055) for better navigation? Are they really needed or SLAM is enoough?

Thank you very much!

Cheers,
Ivo

#80

hi im new to Ros and needed some help. From the tutorials i have leard few thing and iwas able to build a 4WD diff_drive robot ( GitHub - The-Kriz/rog_ros_bot )

but was able to run the bot in sim, but didnt have the luck to make the actual bot run as i coudint figure out how to write code for the hardware part ( i only know basic arduino code )

can someone help me to convert or let me know what all i should change from the provided code for 2WD diff_drive to 4WD diff_drive

thanks you,
Kriz

#81

HI,
It was a great lecture, thanks for sharing with us. I was able to follow most part of it, but i was unable to understand how input and output ports are connected in the hardware interface plugin.

thanks a lot for sharing with us.

#83

Hi @JoshNewans
Thank you for the great work!

I have a question and would appreciate your help.

Could you please explain the rationale behind the specific formula used in the setMotorValues method for converting angular velocity to encoder counts per control loop iteration?

arduino_.setMotorValues(l_wheel_.cmd / l_wheel_.rads_per_count / cfg_.loop_rate, r_wheel_.cmd / r_wheel_.rads_per_count / cfg_.loop_rate);

Specifically, why are the desired angular velocities divided by both the rads_per_count conversion factor and the loop_rate ?

If I were to adapt this code for a different robot with different hardware or control requirements, what aspects of this line would I need to modify?

#84

I seem to be having a problem with the teleop_twist_joy node not auto-repeating.

I used ros2 topic echo /diff_cont/cmd_vel_unstamped to monitor the command being sent when I was using the joy stick to control the robot.

Initial I would see the command and the robot would move. But after a few seconds, no more commands would be sent even when the joystick is held full forward with the enable button pressed.

I have the “autorepeat_rate” set to 20.0 in the joystick.yaml file.

What am I missing?

Any ideas would be welcome. Thank you

#85

I watched the video “You can use ANY hardware with ros2_control”, I downloaded the code of that video, The purpose of that code is that I want to use the frame available in the code to connect to the arduino mega board. Currently I am in the stage of connecting ros2_control to arduino through the code framework available in the video, But I have connection problems when launching the diffbot.launch.py file, currently I am working on the ros_humble version. I’m really sorry that my English sentence seems grammatically incorrect. Thank you everyone for your help.
I just edited the device parameter:

/dev/serial/by-path/pci-0000\:05\:00.3-usb-0\:2\:1.0 error: namdc@Nam20195107:~/project_arduino$ ros2 launch diffdrive_arduino diffbot.launch.py [INFO] [launch]: All log files can be found below /home/namdc/.ros/log/2023-11-25-12-52-15-389354-Nam20195107-10120 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ros2_control_node-1]: process started with pid [10123] [INFO] [robot_state_publisher-2]: process started with pid [10125] [INFO] [spawner-3]: process started with pid [10127] [ros2_control_node-1] [INFO] [1700891536.231110072] [resource_manager]: Loading hardware 'DiffBot' [ros2_control_node-1] [INFO] [1700891536.232843117] [resource_manager]: Initialize hardware 'DiffBot' [ros2_control_node-1] [INFO] [1700891536.233266397] [resource_manager]: Successful initialization of hardware 'DiffBot' [ros2_control_node-1] [INFO] [1700891536.233504397] [resource_manager]: 'configure' hardware 'DiffBot' [ros2_control_node-1] [INFO] [1700891536.233545464] [DiffDriveArduinoHardware]: Configuring ...please wait... [ros2_control_node-1] terminate called after throwing an instance of 'LibSerial::OpenFailed' [ros2_control_node-1] what(): Bad file descriptor [ros2_control_node-1] Stack trace (most recent call last): [robot_state_publisher-2] [WARN] [1700891536.235810194] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [robot_state_publisher-2] [INFO] [1700891536.236364170] [robot_state_publisher]: got segment base_link [robot_state_publisher-2] [INFO] [1700891536.236486892] [robot_state_publisher]: got segment caster_frontal_wheel [robot_state_publisher-2] [INFO] [1700891536.236504515] [robot_state_publisher]: got segment caster_rear_wheel [robot_state_publisher-2] [INFO] [1700891536.236517450] [robot_state_publisher]: got segment left_wheel [robot_state_publisher-2] [INFO] [1700891536.236529713] [robot_state_publisher]: got segment right_wheel [ros2_control_node-1] #22 Object "", at 0xffffffffffffffff, in [ros2_control_node-1] #21 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x55ebb695dd84, in [ros2_control_node-1] #20 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7faad2c29e3f] [ros2_control_node-1] #19 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7faad2c29d8f] [ros2_control_node-1] #18 Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x55ebb695d89e, in [ros2_control_node-1] #17 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7faad3657661, in controller_manager::ControllerManager::ControllerManager(std::shared_ptr, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, rclcpp::NodeOptions const&) [ros2_control_node-1] #16 Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x7faad3656b2e, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&) [ros2_control_node-1] #15 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7faad32f8900, in hardware_interface::ResourceManager::activate_all_components() [ros2_control_node-1] #14 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7faad32f80bb, in hardware_interface::ResourceManager::set_component_state(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, rclcpp_lifecycle::State&) [ros2_control_node-1] #13 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7faad32f95e2, in bool hardware_interface::ResourceStorage::set_component_state(hardware_interface::System&, rclcpp_lifecycle::State const&) [ros2_control_node-1] #12 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7faad330489b, in [ros2_control_node-1] #11 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7faad331aaeb, in [ros2_control_node-1] #10 Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x7faad3312776, in hardware_interface::System::configure() [ros2_control_node-1] #9 Object "/home/namdc/project_arduino/install/diffdrive_arduino/lib/libdiffdrive_arduino.so", at 0x7faacd614b24, in diffdrive_arduino::DiffDriveArduinoHardware::on_configure(rclcpp_lifecycle::State const&) [ros2_control_node-1] #8 Object "/home/namdc/project_arduino/install/diffdrive_arduino/lib/libdiffdrive_arduino.so", at 0x7faacd61765c, in ArduinoComms::connect(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, int, int) [ros2_control_node-1] #7 Object "/usr/lib/x86_64-linux-gnu/libserial.so.1.0.0", at 0x7faacd5a40b3, in [ros2_control_node-1] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7faad30ae4d7, in __cxa_throw [ros2_control_node-1] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7faad30ae276, in std::terminate() [ros2_control_node-1] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7faad30ae20b, in [ros2_control_node-1] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7faad30a2b9d, in [ros2_control_node-1] #2 Source "./stdlib/abort.c", line 79, in abort [0x7faad2c287f2] [ros2_control_node-1] #1 Source "../sysdeps/posix/raise.c", line 26, in raise [0x7faad2c42475] [ros2_control_node-1] #0 | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal [ros2_control_node-1] | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation [ros2_control_node-1] Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7faad2c969fc] [ros2_control_node-1] Aborted (Signal sent by tkill() 10123 1000) [ERROR] [ros2_control_node-1]: process has died [pid 10123, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_xpux93li --params-file /home/namdc/project_arduino/install/diffdrive_arduino/share/diffdrive_arduino/config/diffbot_controllers.yaml']. [spawner-3] [INFO] [1700891538.812032991] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-3] [INFO] [1700891540.830612800] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-3] [INFO] [1700891542.849569356] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-3] [INFO] [1700891544.867227744] [spawner_joint_state_broadcaster]: Waiting for '/controller_manager' node to exist [spawner-3] [ERROR] [1700891546.883473615] [spawner_joint_state_broadcaster]: Controller manager not available [ERROR] [spawner-3]: process has died [pid 10127, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args']. [INFO] [spawner-4]: process started with pid [10167] [INFO] [rviz2-5]: process started with pid [10169] [rviz2-5] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [rviz2-5] [INFO] [1700891547.947906029] [rviz2]: Stereo is NOT SUPPORTED [rviz2-5] [INFO] [1700891547.948230081] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-5] [INFO] [1700891547.987819732] [rviz2]: Stereo is NOT SUPPORTED [rviz2-5] [ERROR] [1700891548.258911760] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown. [rviz2-5] [rviz2-5] [ERROR] [1700891548.259194124] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown. [rviz2-5] [spawner-4] [INFO] [1700891549.758581685] [spawner_diffbot_base_controller]: Waiting for '/controller_manager' node to exist [spawner-4] [INFO] [1700891551.777160247] [spawner_diffbot_base_controller]: Waiting for '/controller_manager' node to exist [spawner-4] [INFO] [1700891553.793324662] [spawner_diffbot_base_controller]: Waiting for '/controller_manager' node to exist [spawner-4] [INFO] [1700891555.810854949] [spawner_diffbot_base_controller]: Waiting for '/controller_manager' node to exist [spawner-4] [ERROR] [1700891557.828001767] [spawner_diffbot_base_controller]: Controller manager not available [ERROR] [spawner-4]: process has died [pid 10167, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner diffbot_base_controller --controller-manager /controller_manager --ros-args'].
#86

Thank you very much @JoshNewans for such a useful content! I’m facing one issue. My real robot wheels are moving fine but in rviz2 it is not moving. The tf is also not moving. Fixed frame is ‘odom’. Tried other fixed frame but of no avail. Don’t know the real problem. If anyone knows about this issue, please help me out. Thanks once again.

#87

Hi @JoshNewans I have learned a lot from your tutorials and applying them on my graduation project so thank you for all the work you have done I would not got anywhere without your generous help
I have been running into issues when I run the “launch_robot.launch.py” on the RasberryPi while it works perfectly on my laptop and in both cases the Arduino board works fine but I do not seem to load “diff_cont” for some reason on the Pi here is the error I get

[INFO] [ros2_control_node-4]: process started with pid [196016]
[INFO] [spawner-5]: process started with pid [196018]
[INFO] [spawner-6]: process started with pid [196020]
[ros2_control_node-4] [INFO] [1700919705.073008620] [resource_manager]: Loading hardware 'RealRobot' 
[ros2_control_node-4] [INFO] [1700919705.094977924] [resource_manager]: Initialize hardware 'RealRobot' 
[ros2_control_node-4] [INFO] [1700919705.098197162] [DiffDriveArduino]: Configuring...
[ros2_control_node-4] [INFO] [1700919705.128308250] [DiffDriveArduino]: Finished Configuration
[ros2_control_node-4] [INFO] [1700919705.128477832] [resource_manager]: Successful initialization of hardware 'RealRobot'
[ros2_control_node-4] [INFO] [1700919705.129383249] [resource_manager]: 'configure' hardware 'RealRobot' 
[ros2_control_node-4] [INFO] [1700919705.129478457] [resource_manager]: Successful 'configure' of hardware 'RealRobot'
[ros2_control_node-4] [INFO] [1700919705.129508218] [resource_manager]: 'activate' hardware 'RealRobot' 
[ros2_control_node-4] [INFO] [1700919705.129532016] [DiffDriveArduino]: Starting Controller...
[ros2_control_node-4] [INFO] [1700919706.134547443] [resource_manager]: Successful 'activate' of hardware 'RealRobot'
[ros2_control_node-4] [INFO] [1700919706.271511173] [controller_manager]: update rate is 30 Hz
[ros2_control_node-4] [INFO] [1700919706.288859315] [controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-4] [INFO] [1700919707.306182869] [controller_manager]: Loading controller 'joint_broad'
[ros2_control_node-4] [INFO] [1700919707.525818714] [controller_manager]: Loading controller 'diff_cont'
[ros2_control_node-4] [ERROR] [1700919707.525999760] [controller_manager]: Loader for controller 'diff_cont' (type 'diff_drive_controller/DiffDriveController') not found.
[ros2_control_node-4] [INFO] [1700919707.526040966] [controller_manager]: Available classes:
[ros2_control_node-4] [INFO] [1700919707.526075634] [controller_manager]:   controller_manager/test_controller
[ros2_control_node-4] [INFO] [1700919707.526103543] [controller_manager]:   controller_manager/test_controller_failed_init
[ros2_control_node-4] [INFO] [1700919707.526129859] [controller_manager]:   controller_manager/test_controller_with_interfaces
[ros2_control_node-4] [INFO] [1700919707.526158527] [controller_manager]:   joint_state_broadcaster/JointStateBroadcaster
[ros2_control_node-4] [INFO] [1700919707.526212030] [controller_manager]:   joint_trajectory_controller/JointTrajectoryController
[ros2_control_node-4] [INFO] [1700919707.528960763] [controller_manager]:   controller_manager/test_chainable_controller
[spawner-6] [FATAL] [1700919707.533096584] [spawner_diff_cont]: Failed loading controller diff_cont
[spawner-5] [INFO] [1700919707.759520886] [spawner_joint_broad]: Loaded joint_broad
[ros2_control_node-4] [INFO] [1700919707.765827910] [controller_manager]: Configuring controller 'joint_broad'
[ros2_control_node-4] [INFO] [1700919707.766330214] [joint_broad]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-5] [INFO] [1700919707.954555349] [spawner_joint_broad]: Configured and activated joint_broad
[ERROR] [spawner-6]: process has died [pid 196020, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner diff_cont --ros-args'].
[INFO] [spawner-5]: process has finished cleanly [pid 196018]

my initial thoughts that it dose not see the “my_controllers.yaml” file but it runs the “joint_broad” without any problems

#88

Hi Josh!
I’m planning to simulate an AUV for 3D underwater object tracking with camera sensor using ROS and Gazebo. Do you have Any recommendations on the ROS version, Gazebo version, and plugins for simulation this scenario? or GitHub directory?

#89

hello, i have problem with the diffdrive_arduino, it can’t be compiled. im using the ubuntu 22.04 with ros humble and i can install the ros-foxy, so i use the ros-humble. but after i install the ros-humble-ros2-control & ros-humble-ros2-controllers the diffdrive_arduino still won’t compiled. can u help me?? thankyou
agnes@raspberrypi:~/ros2_ws$ colcon build --symlink-install
[8.185s] WARNING:colcon.colcon_core.package_selection:Some selected packages are already built in one or more underlay workspaces:
‘rplidar_ros’ is in: /home/agnes/ros2_ws/install/rplidar_ros
If a package in a merged underlay workspace is overridden and it installs headers, then all packages in the overlay must sort their include directories by workspace order. Failure to do so may result in build failures or undefined behavior at run time.
If the overridden package is used by another package in any underlay, then the overriding package in the overlay must be API and ABI compatible or undefined behavior at run time may occur.

If you understand the risks and want to override a package anyways, add the following to the command line:
–allow-overriding rplidar_ros

This may be promoted to an error in a future release of colcon-override-check.
Starting >>> serial
Starting >>> articubot_one
Starting >>> ldlidar_stl_ros2
Starting >>> rplidar_ros
Finished <<< articubot_one [3.33s]
Finished <<< ldlidar_stl_ros2 [3.37s]
Finished <<< serial [4.88s]
Starting >>> diffdrive_arduino
Finished <<< rplidar_ros [4.61s]
— stderr: diffdrive_arduino
In file included from /home/agnes/ros2_ws/src/diffdrive_arduino/src/fake_robot.cpp:1:
/home/agnes/ros2_ws/src/diffdrive_arduino/include/diffdrive_arduino/fake_robot.h:7:10: fatal error: hardware_interface/base_interface.hpp: No such file or directory
7 | #include “hardware_interface/base_interface.hpp”
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
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…
In file included from /home/agnes/ros2_ws/src/diffdrive_arduino/src/diffdrive_arduino.cpp:1:
/home/agnes/ros2_ws/src/diffdrive_arduino/include/diffdrive_arduino/diffdrive_arduino.h:7:10: fatal error: hardware_interface/base_interface.hpp: No such file or directory
7 | #include “hardware_interface/base_interface.hpp”
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
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 [3.85s, exited with code 2]

Summary: 4 packages finished [14.0s]
1 package failed: diffdrive_arduino
1 package had stderr output: diffdrive_arduino

#90

hello Mr joshNewans i have a problem when i try to run this command ros2 launch articubot_one launch_robot.launch.py
the error is :
[INFO] [launch]: All log files can be found below /home/omar/.ros/log/2023-12-19-14-15-50-067095-omarlegiony540-15500
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [15503]
[INFO] [twist_mux-2]: process started with pid [15505]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_footprint had 0 children
[robot_state_publisher-1] Link chassis had 3 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 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] [1702988150.253367756] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1702988150.253457840] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1702988150.253472042] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1702988150.253482521] [robot_state_publisher]: got segment camera_link_optical
[robot_state_publisher-1] [INFO] [1702988150.253492593] [robot_state_publisher]: got segment caster_wheel
[robot_state_publisher-1] [INFO] [1702988150.253502422] [robot_state_publisher]: got segment chassis
[robot_state_publisher-1] [INFO] [1702988150.253512065] [robot_state_publisher]: got segment laser_frame
[robot_state_publisher-1] [INFO] [1702988150.253521801] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-1] [INFO] [1702988150.253531529] [robot_state_publisher]: got segment right_wheel
[twist_mux-2] [INFO] [1702988150.253417560] [twist_mux]: Topic handler ‘topics.joystick’ subscribed to topic ‘cmd_vel_joy’: timeout = 0.500000s , priority = 100.
[twist_mux-2] [INFO] [1702988150.253767902] [twist_mux]: Topic handler ‘topics.navigation’ subscribed to topic ‘cmd_vel’: timeout = 0.500000s , priority = 10.
[twist_mux-2] [INFO] [1702988150.253950440] [twist_mux]: Topic handler ‘topics.tracker’ subscribed to topic ‘cmd_vel_tracker’: timeout = 0.500000s , priority = 20.
[INFO] [ros2_control_node-3]: process started with pid [15541]
[INFO] [spawner.py-4]: process started with pid [15543]
[INFO] [spawner.py-5]: process started with pid [15545]
[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 fake_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem test_system turtlebot3_manipulation_hardware/TurtleBot3ManipulationSystemHardware
[spawner.py-4] [INFO] [1702988154.738035052] [spawner_joint_broad]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1702988154.742421839] [spawner_diff_cont]: Waiting for /controller_manager services
[ERROR] [ros2_control_node-3]: process has died [pid 15541, exit code -6, cmd ‘/opt/ros/foxy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_i511tc0_ --params-file /home/omar/colcon_ws/install/articubot_one/share/articubot_one/config/my_controllers.yaml’].
[spawner.py-4] [INFO] [1702988156.754901118] [spawner_joint_broad]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1702988156.758037875] [spawner_diff_cont]: Waiting for /controller_manager services
[spawner.py-4] [INFO] [1702988158.770261931] [spawner_joint_broad]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1702988158.773408347] [spawner_diff_cont]: Waiting for /controller_manager services
[spawner.py-4] [INFO] [1702988160.788893056] [spawner_joint_broad]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1702988160.791728848] [spawner_diff_cont]: Waiting for /controller_manager services
[spawner.py-4] [INFO] [1702988162.807066439] [spawner_joint_broad]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1702988162.811132170] [spawner_diff_cont]: Waiting for /controller_manager services
[spawner.py-4] [ERROR] [1702988164.823391319] [spawner_joint_broad]: Controller manager not available
[spawner.py-5] [ERROR] [1702988164.828567043] [spawner_diff_cont]: Controller manager not available
[ERROR] [spawner.py-4]: process has died [pid 15543, exit code 1, cmd ‘/opt/ros/foxy/lib/controller_manager/spawner.py joint_broad --ros-args’].
[ERROR] [spawner.py-5]: process has died [pid 15545, exit code 1, cmd ‘/opt/ros/foxy/lib/controller_manager/spawner.py diff_cont --ros-args’].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[twist_mux-2] [INFO] [1702988175.110388053] [rclcpp]: signal_handler(signal_value=2)
[robot_state_publisher-1] [INFO] [1702988175.110824006] [rclcpp]: signal_handler(signal_value=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 15503]
[INFO] [twist_mux-2]: process has finished cleanly [pid 15505]

#91

Hi Josh ,
I’m having the same issue like others with controller manager some how is not working .
I’ve been stuck in this for 4 days now with no luck ! any chance you recommend something ? I echo /cmd_vel_unstamped in robot and I can see the values passing
[spawner-4] [INFO] [1703827838.665064167] [spawner_joint_broad]: Waiting for ‘/controller_manager’ node to exist
[spawner-5] [INFO] [1703827838.785338511] [spawner_diff_cont]: Waiting for ‘/controller_manager’ node to exist
[spawner-4] [INFO] [1703827840.711671532] [spawner_joint_broad]: Waiting for ‘/controller_manager’ node to exist
[spawner-5] [INFO] [1703827840.828404607] [spawner_diff_cont]: Waiting for ‘/controller_manager’ node to exist
[spawner-4] [INFO] [1703827842.760930707] [spawner_joint_broad]: Waiting for ‘/controller_manager’ node to exist
[spawner-5] [INFO] [1703827842.877129094] [spawner_diff_cont]: Waiting for ‘/controller_manager’ node to exist
[spawner-4] [INFO] [1703827844.805368341] [spawner_joint_broad]: Waiting for ‘/controller_manager’ node to exist
[spawner-5] [INFO] [1703827844.923151119] [spawner_diff_cont]: Waiting for ‘/controller_manager’ node to exist
[spawner-4] [ERROR] [1703827846.646826040] [spawner_joint_broad]: Controller manager not available
[spawner-5] [ERROR] [1703827846.763479498] [spawner_diff_cont]: Controller manager not available
[ERROR] [spawner-4]: process has died [pid 7297, exit code 1, cmd ‘/opt/ros/humble/lib/controller_manager/spawner joint_broad --ros-args’].
[ERROR] [spawner-5]: process has died [pid 7299, exit code 1, cmd ‘/opt/ros/humble/lib/controller_manager/spawner diff_cont --ros-args’].

Also I ran controller_manager and no connection
ros2 run controller_manager spawner diff_cont
[INFO] [1703828709.701625640] [spawner_diff_cont]: Waiting for ‘/controller_manager’ node to exist
[INFO] [1703828711.722023739] [spawner_diff_cont]: Waiting for ‘/controller_manager’ node to exist
[INFO] [1703828713.742430911] [spawner_diff_cont]: Waiting for ‘/controller_manager’ node to exist
[INFO] [1703828715.764174999] [spawner_diff_cont]: Waiting for ‘/controller_manager’ node to exist
[ERROR] [1703828717.784713751] [spawner_diff_cont]: Controller manager not available
[ros2run]: Process exited with failure 1

#92

make you clone the " humble " Branch from josh repo . This should solve your issue .

#93

Hi Josh,
i am trying to launch launch_robot.lauch.py but in my dev machine to try the motors with teleop and i got this problem when launch it (Note i donot have diffarduino_drive in my packages and when i try to have it and build it , it give me error)
[INFO] [launch]: All log files can be found below /home/omar/.ros/log/2023-12-30-21-04-24-680391-omarlegiony540-26297
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [26300]
[INFO] [twist_mux-2]: process started with pid [26302]
[twist_mux-2] [INFO] [1703963064.968940347] [twist_mux]: Topic handler ‘topics.joystick’ subscribed to topic ‘cmd_vel_joy’: timeout = 0.500000s , priority = 100.
[twist_mux-2] [INFO] [1703963064.969531345] [twist_mux]: Topic handler ‘topics.navigation’ subscribed to topic ‘cmd_vel’: timeout = 0.500000s , priority = 10.
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_footprint had 0 children
[robot_state_publisher-1] Link chassis had 2 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 laser_frame had 0 children
[robot_state_publisher-1] Link left_wheel had 0 children
[robot_state_publisher-1] Link leftb_wheel had 0 children
[robot_state_publisher-1] Link leftf_wheel had 0 children
[robot_state_publisher-1] Link right_wheel had 0 children
[robot_state_publisher-1] Link rightb_wheel had 0 children
[robot_state_publisher-1] Link rightf_wheel had 0 children
[robot_state_publisher-1] [INFO] [1703963064.974543580] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1703963064.974624726] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1703963064.974637111] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1703963064.974645299] [robot_state_publisher]: got segment camera_link_optical
[robot_state_publisher-1] [INFO] [1703963064.974652976] [robot_state_publisher]: got segment chassis
[robot_state_publisher-1] [INFO] [1703963064.974660158] [robot_state_publisher]: got segment laser_frame
[robot_state_publisher-1] [INFO] [1703963064.974666931] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-1] [INFO] [1703963064.974673816] [robot_state_publisher]: got segment leftb_wheel
[robot_state_publisher-1] [INFO] [1703963064.974680677] [robot_state_publisher]: got segment leftf_wheel
[robot_state_publisher-1] [INFO] [1703963064.974687395] [robot_state_publisher]: got segment right_wheel
[robot_state_publisher-1] [INFO] [1703963064.974694133] [robot_state_publisher]: got segment rightb_wheel
[robot_state_publisher-1] [INFO] [1703963064.974701012] [robot_state_publisher]: got segment rightf_wheel
[INFO] [ros2_control_node-3]: process started with pid [26338]
[INFO] [spawner.py-4]: process started with pid [26340]
[INFO] [spawner.py-5]: process started with pid [26342]
[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 fake_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem test_system
[spawner.py-4] [INFO] [1703963069.430926611] [spawner_joint_broad]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1703963069.431065690] [spawner_diff_cont]: Waiting for /controller_manager services
[ERROR] [ros2_control_node-3]: process has died [pid 26338, exit code -6, cmd ‘/opt/ros/foxy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_8fuljyhu --params-file /home/omar/real_ws/install/medo/share/medo/config/my_controllers.yaml’].
[spawner.py-4] [INFO] [1703963071.446737365] [spawner_joint_broad]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1703963071.447554445] [spawner_diff_cont]: Waiting for /controller_manager services
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[twist_mux-2] [INFO] [1703963073.455811200] [rclcpp]: signal_handler(signal_value=2)
[robot_state_publisher-1] [INFO] [1703963073.455834934] [rclcpp]: signal_handler(signal_value=2)
[spawner.py-5] Traceback (most recent call last):
[spawner.py-5] File “/opt/ros/foxy/lib/controller_manager/spawner.py”, line 204, in
[spawner.py-5] sys.exit(main())
[spawner.py-5] File “/opt/ros/foxy/lib/controller_manager/spawner.py”, line 118, in main
[spawner.py-5] if not wait_for_controller_manager(node, controller_manager_name,
[spawner.py-5] File “/opt/ros/foxy/lib/controller_manager/spawner.py”, line 59, in wait_for_controller_manager
[spawner.py-5] time.sleep(0.2)
[spawner.py-5] KeyboardInterrupt
[spawner.py-4] Traceback (most recent call last):
[spawner.py-4] File “/opt/ros/foxy/lib/controller_manager/spawner.py”, line 204, in
[spawner.py-4] sys.exit(main())
[spawner.py-4] File “/opt/ros/foxy/lib/controller_manager/spawner.py”, line 118, in main
[spawner.py-4] if not wait_for_controller_manager(node, controller_manager_name,
[spawner.py-4] File “/opt/ros/foxy/lib/controller_manager/spawner.py”, line 59, in wait_for_controller_manager
[spawner.py-4] time.sleep(0.2)
[spawner.py-4] KeyboardInterrupt
[INFO] [twist_mux-2]: process has finished cleanly [pid 26302]
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 26300]
[ERROR] [spawner.py-5]: process has died [pid 26342, exit code -2, cmd ‘/opt/ros/foxy/lib/controller_manager/spawner.py diff_cont --ros-args’].
[ERROR] [spawner.py-4]: process has died [pid 26340, exit code -2, cmd ‘/opt/ros/foxy/lib/controller_manager/spawner.py joint_broad --ros-args’].

#94

I was able to resolve this issue by cloning the repo from buzzology github and then rebuilt the whole project with colcon .

#95

hey Josh, thanks for the amazing tutorial and the generous content in general
i see you have commented on this issue before but i can’t seem to figure it out yet it happens on both the machine and the pi
[spawner.py-6] [INFO] [1704429643.856203298] [spawner_joint_broad]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1704429643.945700660] [spawner_diff_cont]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1704429645.866817026] [spawner_joint_broad]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1704429645.955195869] [spawner_diff_cont]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1704429647.880334317] [spawner_joint_broad]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1704429647.967992784] [spawner_diff_cont]: Waiting for /controller_manager services
[spawner.py-6] [INFO] [1704429649.896868913] [spawner_joint_broad]: Waiting for /controller_manager services
[spawner.py-5] [INFO] [1704429649.984468641] [spawner_diff_cont]: Waiting for /controller_manager services
[spawner.py-6] [ERROR] [1704429651.911524114] [spawner_joint_broad]: Controller manager not available
[ERROR] [spawner.py-6]: process has died [pid 9922, exit code 1, cmd ‘/opt/ros/foxy/lib/controller_manager/spawner.py joint_broad --ros-args’].
[spawner.py-5] [ERROR] [1704429651.999166283] [spawner_diff_cont]: Controller manager not available
[ERROR] [spawner.py-5]: process has died [pid 9920, exit code 1, cmd ‘/opt/ros/foxy/lib/controller_manager/spawner.py diff_cont --ros-args’].

#96

See the documentation on the hardware_interface for the ros2_control, on github

Migration from Foxy to newer versions

Between Foxy and Galactic we made substantial changes to the interface of hardware components to enable management of their lifecycle. The following list shows a set of quick changes to port existing hardware components to Galactic:

  1. Rename configure to on_init and change return type to CallbackReturn
  2. If using BaseInterface as base class then you should remove it. Specifically, change:

hardware_interface::BaseInterface<hardware_interface::[Actuator|Sensor|System]Interface>

to

hardware_interface::[Actuator|Sensor|System]Interface

  • Remove include of headers base_interface.hpp and hardware_interface_status_values.hpp
#97

Hey @Afiq003,
i got the same error… but as @JoshNewans:

i’m a bit confused by your solution.

what exactly did u do to resolve this? Thanks alot in advance!

EDIT: found the issue. in rsp.launch.py i needed to insert an blank before the “sim_mode” parameter as follows:

old:

robot_description_config = Command(['xacro ‘, xacro_file, ’ use_ros2_control:=’, use_ros2_control, ‘sim_mode:=’, use_sim_time])

new:

robot_description_config = Command([‘xacro ‘, xacro_file, ’ use_ros2_control:=’, use_ros2_control, ’ sim_mode:=’, use_sim_time])