Bug Report & Question

[servingrobotmaster]

hello. This is none other than the Korean student who asked the question last time. Actually, I am trying to create the file. I put the robot arm made with ROS2 into O3DE, added the necessary joint components(JointsArticulationControllerComponent, JointsManipulationRequests, JointsTrajectoryRequests), and launched it, but it still doesn't connect. Also, I confirmed that o3de_ros2_node was created using rqt_graph, and even though I fired a topic with o3de_ros2_node, there was no message in the terminal.

[WARN] [1705650019.677339845] [o3de_ros2_node]: New subscription discovered on topic '/panda/joint_states', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

These warning signs came up: Is there anything I missed??

(I am using docker, and when importing the robot using bridge=network, I used 127.0.0.1 as the IP.)

[jhanca-robotecai]

I would recommend starting with the existing ROS 2 project template that implements a very similar setup, i.e., the Panda Franka robotic arm with manipulation enabled via ROS 2 communication and even motion planning software called MoveIt. Please have a look at this template: https://github.com/o3de/o3de-extras/tree/development/Templates/Ros2RoboticManipulationTemplate

Running this template would prove your setup (ROS 2 installation, docker setup, ROS 2 calls, etc.) is correct. You might next try to mirror the setup from the template on a new level with your specific robotic arm.

[servingrobotmaster]

I tried the template (Ros2RoboticManipulationTemplate), but even though my computer satisfies the specifications of o3de, there was a lag when building, so I would like to run the template as a docker file. Does the project have a docker executable file?

[jhanca-robotecai]

There are no official docker files for project templates, but I know there is one on the Husarion repository. If I were you I would use this one as a base with the following changes:

• change o3de and o3de-extras to the latest release 2310.2
• change the template from Ros2ProjectTemplate to Ros2RoboticManipulationTemplate
• register all required gems (WarehouseAutomation Gem is needed, RosRobotSample is not)

You might find some other tips in docker files and readme files in older o3de demos, e.g. ROSConDemo

Please let me know if this helps. You might try to find more help on o3de discord channels, e.g. #newmember-projects or #general-support. Github issues are primarily meant for reporting bugs.

[michalpelka]

The issue was discussed in sig-simulation issue triage. Did you have an opportunity to test the suggestion from @jhanca-robotecai? Thanks for the feedback!

[jhanca-robotecai]

I am closing the issue due to the missing response. Please reopen the issue if necessary.