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

Articulated Robotics Content Discussions
#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])

#101

Hi @JoshNewans thanks a lot for the videos, They helped me a lot to understand ROS2 and how to build a differential drive bot. I am working on a 4 WD and have been following your tutorials until " [Using ros2_control to drive our robot (off the edge of the bench...)](https://www.youtube.com/watch?v=4VVrTCnxvSw&t=601s)" video. I am facing some trouble after changing to ros2_control, The issue is that my robot is not moving either left or right in gazebo but it seems to move in Rviz as expected. I have searched all the online resources but did not find anything that helps.
here is the link to my repo GitHub - BooraKaushik/autobot
Video of what is happening, IMG_5920.mov - Google Drive
as you can see it is turning fine in rviz but not in gazebo.

I would really appreciate any help.
Thanks,
Kaushik Boora

#102

Hi guys. I am new to ROS2 and I am following @JoshNewans tutorial to make my own robot. I am using an arduino uno board with polulu motors. I was able to make the robot work in gazebo/rviz but when I downloaded the diffdrive controller from Josh’ github and started to port it on the robot using RPI 3b+, I get the error:

ros2 launch adrover_ROS2 launch_robot.launch.py
[INFO] [launch]: All log files can be found below /home/adrover/.ros/log/2024-03-20-14-58-26-819462-adrover-2942
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [2945]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link chassis_link_back had 1 children
[robot_state_publisher-1] Link laser_frame had 0 children
[robot_state_publisher-1] Link chassis_link_front had 1 children
[robot_state_publisher-1] Link lcd_link had 1 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 chassis_link_left had 2 children
[robot_state_publisher-1] Link caster_wheel_link_lb had 0 children
[robot_state_publisher-1] Link caster_wheel_link_lf had 0 children
[robot_state_publisher-1] Link chassis_link_right had 2 children
[robot_state_publisher-1] Link caster_wheel_link_rb had 0 children
[robot_state_publisher-1] Link caster_wheel_link_rf had 0 children
[robot_state_publisher-1] Link left_wheel_link had 0 children
[robot_state_publisher-1] Link right_wheel_link had 0 children
[robot_state_publisher-1] [INFO] [1710928708.453907263] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1710928708.454549749] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1710928708.454657611] [robot_state_publisher]: got segment camera_link_optical
[robot_state_publisher-1] [INFO] [1710928708.454703444] [robot_state_publisher]: got segment caster_wheel_link_lb
[robot_state_publisher-1] [INFO] [1710928708.454747245] [robot_state_publisher]: got segment caster_wheel_link_lf
[robot_state_publisher-1] [INFO] [1710928708.454788963] [robot_state_publisher]: got segment caster_wheel_link_rb
[robot_state_publisher-1] [INFO] [1710928708.454830316] [robot_state_publisher]: got segment caster_wheel_link_rf
[robot_state_publisher-1] [INFO] [1710928708.454871253] [robot_state_publisher]: got segment chassis_link_back
[robot_state_publisher-1] [INFO] [1710928708.454913543] [robot_state_publisher]: got segment chassis_link_front
[robot_state_publisher-1] [INFO] [1710928708.454954636] [robot_state_publisher]: got segment chassis_link_left
[robot_state_publisher-1] [INFO] [1710928708.454996562] [robot_state_publisher]: got segment chassis_link_right
[robot_state_publisher-1] [INFO] [1710928708.455047186] [robot_state_publisher]: got segment laser_frame
[robot_state_publisher-1] [INFO] [1710928708.455090831] [robot_state_publisher]: got segment lcd_link
[robot_state_publisher-1] [INFO] [1710928708.455134007] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-1] [INFO] [1710928708.455264005] [robot_state_publisher]: got segment right_wheel_link
[INFO] [ros2_control_node-2]: process started with pid [2957]
[ros2_control_node-2] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-2]   what():  invalid URDF passed in to robot parser
[ERROR] [ros2_control_node-2]: process has died [pid 2957, exit code -6, cmd '/opt/ros/foxy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_y8g2xwtv --params-file /home/adrover/adrover_ws/install/adrover_ROS2/share/adrover_ROS2/config/adrover_controller.yaml'].

I have commented out the spawner in my launch files since the controller manager terminates automatically. Also my description file looks like:

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

    <ros2_control name="RealRobot" type="system">

        <hardware>
            <plugin>diffdrive_arduino/DiffDriveArduino</plugin>
            <param name="left_wheel_names">left_wheel_joint</param>
            <param name="right_wheel_names">right_wheel_joint</param>
            <param name="loop_rate">30</param>
            <param name="device">/dev/serial/by-id/usb-1a86_USB2.0-Ser_-if00-port0</param>
            <param name="baud_rate">57600</param>
            <param name="timeout">1000</param>
            <param name="enc_counts_per_rev">8400</param>
        </hardware>

        <joint name="left_wheel_joint">
            <command_interface name="velocity">
                <param name="min">-10</param>
                <param name="max">10</param>
            </command_interface>
            <state_interface name="velocity" />
            <state_interface name="position" />
        </joint>

        <joint name="right_wheel_joint">
            <command_interface name="velocity">
                <param name="min">-10</param>
                <param name="max">10</param>
            </command_interface>
            <state_interface name="velocity" />
            <state_interface name="position" />
        </joint>

    </ros2_control>
        <gazebo>
        <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
            <parameters>$(find adrover_ROS2)/config/adrover_controller.yaml</parameters>
        </plugin>
    </gazebo>

</robot>

Kindly any help in this regard?

#103

hi , i m an issue while launch ros2 control list hardware interface output will coming like this could not contact to service controller manager

can anyone please help me out

#104

It worked for me. For reference, I switched to ROS foxy but the issue persisted. I was connected to RPi over ssh and using nano for editing. I ultimately connected to vscode over remote connection, replaced all my code with the snippets provided in the blog by Josh ( I did this to ros2_control.xacroa and the launch_robot.launch.py files though I couldn’t see any difference between the two), removed the gazebo_control part completely instead of commenting it out and recompiled and run the launch file. It worked… Thankyou everyone and specially @JoshNewans for these great tutorials.

#105

Hi Josh
I’m trying to run “ros2 launch articubot_one launch_robot.launch.py” but get this error, I wonder if you can guide me to a solution. Thanks

[INFO] [launch]: All log files can be found below /home/diaz/.ros/log/2024-04-04-06-44-23-550460-diaz-desktop-13685
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [13688]
[robot_state_publisher-1] 1712227464.651032 [0] robot_stat: using network interface wlan0 (udp/192.168.1.107) selected arbitrarily from: wlan0, docker0
[robot_state_publisher-1] Parsing robot urdf xml string.
[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] [1712227464.679112441] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1712227464.679405597] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1712227464.679503966] [robot_state_publisher]: got segment camera_link_optical
[robot_state_publisher-1] [INFO] [1712227464.679596512] [robot_state_publisher]: got segment caster_wheel
[robot_state_publisher-1] [INFO] [1712227464.679661025] [robot_state_publisher]: got segment chassis
[robot_state_publisher-1] [INFO] [1712227464.679858499] [robot_state_publisher]: got segment face_link
[robot_state_publisher-1] [INFO] [1712227464.679919908] [robot_state_publisher]: got segment laser_frame
[robot_state_publisher-1] [INFO] [1712227464.679992325] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-1] [INFO] [1712227464.680050182] [robot_state_publisher]: got segment right_wheel
Task exception was never retrieved
future: <Task finished name=‘Task-12’ coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=SubstitutionFailure(‘executed command showed stderr output. Command: ros2 param get --hide-type /robot_state_publisher robot_description\nCaptured stderr output:\n1712227469.524891 [0] ros2: using network interface wlan0 (udp/192.168.1.107) selected arbitrarily from: wlan0, docker0\n1712227470.409871 [0] ros2: using network interface wlan0 (udp/192.168.1.107) selected arbitrarily from: wlan0, docker0\n’)>
Traceback (most recent call last):
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py”, line 228, in _process_one_event
await self.__process_event(next_event)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py”, line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py”, line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py”, line 108, in visit
return self.execute(context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py”, line 444, in execute
self._perform_substitutions(context)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py”, line 399, in _perform_substitutions
evaluated_parameters = evaluate_parameters(context, self.__parameters)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py”, line 164, in evaluate_parameters
output_params.append(evaluate_parameter_dict(context, param))
File “/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py”, line 71, in evaluate_parameter_dict
evaluated_value = perform_substitutions(context, list(value))
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py”, line 26, in perform_substitutions
return ‘’.join([context.perform_substitution(sub) for sub in subs])
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/perform_substitutions_impl.py”, line 26, in
return ‘’.join([context.perform_substitution(sub) for sub in subs])
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_context.py”, line 232, in perform_substitution
return substitution.perform(self)
File “/opt/ros/foxy/lib/python3.8/site-packages/launch/substitutions/command.py”, line 122, in perform
raise SubstitutionFailure(on_stderr_message)
launch.substitutions.substitution_failure.SubstitutionFailure: executed command showed stderr output. Command: ros2 param get --hide-type /robot_state_publisher robot_description
Captured stderr output:
1712227469.524891 [0] ros2: using network interface wlan0 (udp/192.168.1.107) selected arbitrarily from: wlan0, docker0
1712227470.409871 [0] ros2: using network interface wlan0 (udp/192.168.1.107) selected arbitrarily from: wlan0, docker0

^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-1] [INFO] [1712228830.109878910] [rclcpp]: signal_handler(signal_value=2)
[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 13688]

#106

I’ve been banging on this for some time and would appreciate any help that someone can offer. I’ve followed the update instructions for Humble to the best of my ability and can run everything in the simulated environment. The error comes when I try to run on the real robot. I get this error:

[ros2_control_node-3] [WARN] [1717166914.463673109] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use ‘~/robot_description’ topic from ‘robot_state_publisher’ instead.
[ros2_control_node-3] [INFO] [1717168386.815847187] [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/DiffDriveArduinoHardware with base class type hardware_interface::SystemInterface does not exist. Declared types are diffdrive_arduino/DiffDriveArduino fake_components/GenericSystem fake_robot/FakeRobot mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem

#107

I build 4 wheel differential drive whit this tutorial, but i have problem with arduino diff drive because not supported for 4 wheel, can anyone help me?

#108

Hi , can some one please help me out with this. Im getting this output when i run the launch_robot.launch.py (using the humble branch along with buzzology repo)

[ros2_control_node-3] [WARN] [1719424456.132014484] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-3] [INFO] [1719424456.135225674] [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/DiffDriveArduinoHardware with base class type hardware_interface::SystemInterface does not exist. Declared types are  diffdrive_arduino/DiffDriveArduino fake_components/GenericSystem fake_robot/FakeRobot mock_components/GenericSystem test_hardware_components/TestSystemCommandModes test_hardware_components/TestTwoJointSystem
[ros2_control_node-3] Stack trace (most recent call last):
[ros2_control_node-3] #16   Object "/usr/lib/aarch64-linux-gnu/ld-linux-aarch64.so.1", at 0xffffffffffffffff, in 
[ros2_control_node-3] #15   Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0xaaaad1ee2c6f, in 
[ros2_control_node-3] #14   Object "/usr/lib/aarch64-linux-gnu/libc.so.6", at 0xffff95a474cb, in __libc_start_main
[ros2_control_node-3] #13   Object "/usr/lib/aarch64-linux-gnu/libc.so.6", at 0xffff95a473fb, in 
[ros2_control_node-3] #12   Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0xaaaad1ee2767, in 
[ros2_control_node-3] #11   Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0xffff960f24cb, 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 0xffff960ee5f7, 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 0xffff958b7077, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool)
[ros2_control_node-3] #8    Object "/opt/ros/humble/lib/libhardware_interface.so", at 0xffff958b56ab, in 
[ros2_control_node-3] #7    Object "/opt/ros/humble/lib/libhardware_interface.so", at 0xffff958c9ef3, in 
[ros2_control_node-3] #6    Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30", at 0xffff95ca2e03, in __cxa_throw
[ros2_control_node-3] #5    Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30", at 0xffff95ca2b1f, in std::terminate()
[ros2_control_node-3] #4    Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30", at 0xffff95ca2abb, in 
[ros2_control_node-3] #3    Object "/usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.30", at 0xffff95ca62db, in __gnu_cxx::__verbose_terminate_handler()
[ros2_control_node-3] #2    Object "/usr/lib/aarch64-linux-gnu/libc.so.6", at 0xffff95a4712f, in abort
[ros2_control_node-3] #1    Object "/usr/lib/aarch64-linux-gnu/libc.so.6", at 0xffff95a5a67b, in raise
[ros2_control_node-3] #0    Object "/usr/lib/aarch64-linux-gnu/libc.so.6", at 0xffff95a9f200, in 
[ros2_control_node-3] Aborted (Signal sent by tkill() 10495 1000)
[ERROR] [ros2_control_node-3]: process has died [pid 10495, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_p6dnjvqp --params-file /home/rosbot/aria_ws/install/articubot_one/share/articubot_one/config/my_controllers.yaml'].

i did a topic echo and it seems like my joystick is sending input and the bot is receiving the necessary twist msg . But the bot doesn’t move can someone please help me out with this??

#109

Hello sir,

Thank you for the great tutorials.

I am using raspberry pi 5 model and therefore I have install Ubuntu 24.04 and ROS2 rolling in my Pi. I am currently in “Using ros2_control to drive our robot” video and up to now it’s all good.

P.S. I had to go through the motor driver code in arduino nano and found out that whenever I give a motor value ( o 255 255), the corresponding pins in the arduino nano will be high for a moment and again go back to 0. Therefore I commented out line 360 to 363 on ROSArduinoBridge code. After that it worked as expected. That is something I wanted to tell if someone having a same issue as me.

When I try to build the diffdrive_arduino package I got an issue about not having base_interface.hpp in hardware interface. When I read this discussion this is because I am using a new version of ROS2. Therefore I use this link to install diffdrive_arduino package : GitHub - RedstoneGithub/diffdrive_arduino: A simple ROS Control Hardware Interface for differential drive control of robot whose motors are connected via an Arduino (or similar microcontroller). as someone mention in the discussion and it built successfully.

The problem comes when I try to control it using teleop twist keyboard.
When I launch the launhc_robot.launch.py file, it launched successfully in Pi. Then after I run teleop twist keyboard in my dev machine I got the following error.

[rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:
‘Fast CDR exception deserializing message of type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_., at ./src/type_support_common.cpp:118’
with this new error message:
‘‘Bad alloc’ exception deserializing message of type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_., at ./src/type_support_common.cpp:123’
rcutils_reset_error() should be called after error handling to avoid this.
<<<
>>> [rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:

‘‘Bad alloc’ exception deserializing message of type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_., at ./src/type_support_common.cpp:123’
with this new error message:
‘Fast CDR exception deserializing message of type rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_., at ./src/type_support_common.cpp:118’
rcutils_reset_error() should be called after error handling to avoid this.

I have no idea what cause this error. If someone could help me out, I really appreciate it.

Thank you