rover_teleop keyboard issue

[marapakabannudeepak]

rover_teleop keyboard is not working for moon and forest launch files, but it is working for mars.launch.py Can you please fix this issue.

[mgonzs13]

@marapakabannudeepak what error are you experiencing?

[marapakabannudeepak]

I am running ros2 run rover_teleop teleop_keyboard_node rover is moving in the mars world,but in the forest and moon worlds the rover is not moving.

[marapakabannudeepak]

https://github.com/user-attachments/assets/f9666343-1ee9-4ac7-9129-f23a2a62f580

[marapakabannudeepak]

I launched Forest world but in the rviz2 the forest and mars worlds are flipping in the camera topic.

[mgonzs13]

I launched Forest world but in the rviz2 the forest and mars worlds are flipping in the camera topic.

This could be due to having two gazebo instances of the localization, mainly the rgbd odomtry.

I am running ros2 run rover_teleop teleop_keyboard_node rover is moving in the mars world,but in the forest and moon worlds the rover is not moving.

I've just test the teleop with the moon world it works well. Can you check if you have several gazebo instances and the cmd_vel topic?

[marapakabannudeepak]

[marapakabannudeepak]

I am getting this error.

[marapakabannudeepak]

Whenever i am try to add livox mid360 lidar in the sensors section in rover.urdf.xacro Rover teleop is not working in forest and moon worlds but it is working in mars.world can you please fix this issue

[mgonzs13]

@marapakabannudeepak can you share the simulation you are using to test it?

[marapakabannudeepak]

Gazebo

[mgonzs13]

I mean the files you have edited and new files you are including in the rover simulation.

[marapakabannudeepak]

i just added following code in the /home/ros2_ws1/src/ros2_rover/rover_description/robots/rover.urdf.xacro file This is the only file we edited to add the lidar data https://github.com/2vin2vin/ros2_rover/blob/humble/rover_description/robots/rover.urdf.xacro

the lidar is taken from https://github.com/LihanChen2004/livox_laser_simulation_ros2.git

<xacro:include filename="$(find ros2_livox_simulation)/urdf/mid360.xacro"/> <xacro:mid360 name="livox" parent="base_link" topic="mid360"> </xacro:mid360>

1. I have realised that there is no data from /joint_states when i use the worlds moon and forest but it works properly fine when i use the mars world.
2. I have tried and just changed the world file in the mars launch file and still the issue prevails.
3. But one thing you would be able to observe that the when you launch the moon world for example in the start there is data regarding the joints as you can see them in the tf's but after like around 10 seconds the tf's vanish and the /joint_states are not publishing data.
4. I have also tried with velodyne lidar and it seems to be the same.
5. When the lidar is removed, then the rover seem to work seamlessly in all the worlds.

[mgonzs13]

@marapakabannudeepak I've been trying to launch the simulation with livox but i am getting [ERROR] [launch]: Caught exception in launch (see debug for traceback): Not enough blocks.

[marapakabannudeepak]

@mgonzs13 what are the changes that you have made?

[marapakabannudeepak]

@marapakabannudeepak I've been trying to launch the simulation with livox but i am getting [ERROR] [launch]: Caught exception in launch (see debug for traceback): Not enough blocks.

It seems like the error is related to GPU(as specified by Chatgpt)

[mgonzs13]

@marapakabannudeepak I've been trying to launch the simulation with livox but i am getting [ERROR] [launch]: Caught exception in launch (see debug for traceback): Not enough blocks.

This error appears due to the lack of the origin block in your URDF :)

I have tested and I have found out that the real time when using the livox is too low, near 0. Can you check this? This can lead to delays that prevent loading all controllers.

[marapakabannudeepak]

How to fix this error?

[mgonzs13]

I don't know what could be going on here. Have you tried to add the livox to other simulated robots?

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This issue is stale because it has been open for 30 days with no activity.

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This issue was closed because it has been inactive for 14 days since being marked as stale.