turtlebot3_simulations
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Published
20 hours ago •
ROBOTIS-GIT
ROBOTIS-GIT
Release for ROS2 Galactic
The binary for galactic is being prepared for the release in next week. Thank you.
https://github.com/ros/rosdistro/pull/29888 Dependency to turtlebot3 package has been removed in this release.
I recently switched to galactic and tried to use the turtlebot3 simulation .
However, Gazebo will not start because it cannot find the missing turtlebot3 models. This is because they cannot be installed via apt at the moment?
sudo apt install ros-galactic-turtle
ros-galactic-turtlebot3-msgs ros-galactic-turtlebot3-msgs-dbgsym ros-galactic-turtlesim ros-galactic-turtlesim-dbgsym
The package that would be required (turtlebot3_gazebo) is missing here. Do i need to update my sources or something? I followed the galactic install instructions here
I also cannot make it work by downloading from this repo. I switched to the ROS2 branch and did a colcon build, added the path to the package to the GAZEBO_MODEL_PATH, but then the package structure is not ok?
evocortex@sim2:~$ gazebo --verbose dev_ws/src/evo_ros2_sim_bringup/worlds/waffle.model
Gazebo multi-robot simulator, version 11.7.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[Msg] Waiting for master.
Gazebo multi-robot simulator, version 11.7.0
Copyright (C) 2012 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 10.0.7.21
[Wrn] [ModelDatabase.cc:340] Getting models from[http://models.gazebosim.org/]. This may take a few seconds.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 10.0.7.21
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_world]
Error Code 12 Msg: Unable to find uri[model://turtlebot3_world]
[Msg] Loading world file [/home/evocortex/dev_ws/src/evo_ros2_sim_bringup/worlds/waffle.model]
[Err] [Joint.cc:297] EXCEPTION: Couldn't Find Child Link[camera_rgb_frame]
[Err] [Model.cc:272] LoadJoint Failed
[INFO] [1627462668.927258200] [gazebo_ros_node]: ROS was initialized without arguments.
1627462668.928293 [0] gzserver: using network interface enp5s0 (udp/10.0.7.21) selected arbitrarily from: enp5s0, docker0
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/evocortex/dev_ws/src/turtlebot3_simulations/turtlebot3_gazebo/include"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/evocortex/dev_ws/src/turtlebot3_simulations/turtlebot3_gazebo/launch"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/evocortex/dev_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/evocortex/dev_ws/src/turtlebot3_simulations/turtlebot3_gazebo/rviz"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/evocortex/dev_ws/src/turtlebot3_simulations/turtlebot3_gazebo/src"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/evocortex/dev_ws/src/turtlebot3_simulations/turtlebot3_gazebo/urdf"
[Err] [InsertModelWidget.cc:402] Missing model.config for model "/home/evocortex/dev_ws/src/turtlebot3_simulations/turtlebot3_gazebo/worlds"
[Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[INFO] [1627462669.085127216] [intel_realsense_r200_depth_driver]: Publishing camera info to [/intel_realsense_r200_depth/camera_info]
[INFO] [1627462669.085613632] [intel_realsense_r200_depth_driver]: Publishing depth camera info to [/intel_realsense_r200_depth/depth/camera_info]
[INFO] [1627462669.085804351] [intel_realsense_r200_depth_driver]: Publishing pointcloud to [/intel_realsense_r200_depth/points]
[INFO] [1627462669.104149322] [turtlebot3_diff_drive]: Wheel pair 1 separation set to [0.287000m]
[INFO] [1627462669.104192663] [turtlebot3_diff_drive]: Wheel pair 1 diameter set to [0.066000m]
[INFO] [1627462669.104637000] [turtlebot3_diff_drive]: Subscribed to [/cmd_vel]
[INFO] [1627462669.105443719] [turtlebot3_diff_drive]: Advertise odometry on [/odom]
[INFO] [1627462669.106281036] [turtlebot3_diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[INFO] [1627462669.113339019] [turtlebot3_joint_state]: Going to publish joint [wheel_left_joint]
[INFO] [1627462669.113386839] [turtlebot3_joint_state]: Going to publish joint [wheel_right_joint]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/waffle_base.dae]
[Err] [Visual.cc:2956] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/waffle_base.dae]
[Err] [Visual.cc:2956] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/waffle_base.dae]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/lds.dae]
[Err] [Visual.cc:2956] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/lds.dae]
[Err] [Visual.cc:2956] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/lds.dae]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/tire.dae]
[Err] [Visual.cc:2956] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/tire.dae]
[Err] [Visual.cc:2956] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/tire.dae]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/tire.dae]
[Err] [Visual.cc:2956] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/tire.dae]
[Err] [Visual.cc:2956] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/tire.dae]
[Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[Msg] Waiting for model database update to complete...
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/waffle_base.dae]
[Err] [Visual.cc:2956] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/waffle_base.dae]
[Err] [Visual.cc:2956] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/waffle_base.dae]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/lds.dae]
[Err] [Visual.cc:2956] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/lds.dae]
[Err] [Visual.cc:2956] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/lds.dae]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/tire.dae]
[Err] [Visual.cc:2956] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/tire.dae]
[Err] [Visual.cc:2956] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/tire.dae]
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/tire.dae]
[Err] [Visual.cc:2956] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/tire.dae]
[Err] [Visual.cc:2956] No mesh specified
[Wrn] [SystemPaths.cc:459] File or path does not exist [""] [model://turtlebot3_waffle/meshes/tire.dae]
Hi @marcomasa
TurtleBot3 packages for Galactic is waiting for the binary release so at the moment, you cannot install with apt install command. http://repo.ros2.org/status_page/ros_galactic_default.html?q=turtlebot3
Download the galactic source in the src directory of your workspace and build.
$ git clone -b galactic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
The turtlebot3_simulation package was updated to share the common mesh files in order to reduce the size of the package, I'll reflect this change into the model file.
But, for now, you can replace all model://turtlebot3_waffle/meshes... to model://turtlebot3_common/meshes... in the waffle.model file.
Thank you.