ROS 2 Jazzyに対応します #158

chama1176 · 2024-07-18T00:31:22Z

What does this implement/fix?

ROS 2 Jazzyに対応します

ドキュメントをJazzy向けに書き換えました
CIをJazzyに変更しました
ignの記載が残っていた部分をgzに移行しています
usb_camの現在の使用方法について記載しました

Does this close any currently open issues?

No.

How has this been tested?

実機とシミュレーションでExamplesが動作することを確認しています

Any other comments?

先にsciurus17_descriptionのJazzy対応PRがマージされないとCIが通りません

Checklists

I have read the CONTRIBUTING guidelines.
- If there is no guideline in the repository, rt-net organization's guideline applies.
I have checked to ensure there aren't other open Pull Requests for the same change.

This reverts commit 7fdbb47.

Kuwamai

@chama1176
PRありがとうございます。
実機ですべてのサンプルの動作確認ができました。

Gazeboが起動しなかったため、シミュレータの動作は未確認です。
コメントをご確認お願いします。

README.md

sciurus17_moveit_config/launch/run_move_group.launch.py

README.md

Kuwamai · 2024-11-12T11:45:47Z

sciurus17_gazebo/launch/sciurus17_with_table.launch.py

Gazeboシミュレータが起動中に落ちました。
@chama1176 さんの環境では正常に起動しましたでしょうか?

こちらの環境だとGUIまわりでエラーが起きていているようです。

[gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m [gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m [gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m [gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m [gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m [gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m [gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m [gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m [gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m [gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1301] �[0m�[1;31m Unable to create the rendering window: �[0m�[1;31mOGRE EXCEPTION(3:RenderingAPIException): currentGLContext was specified with no current GL context in GLXWindow::create at ./.obj-x86_64-linux-gnu/gz_ogre_next_vendor-prefix/src/gz_ogre_next_vendor/RenderSystems/GL3Plus/src/windowing/GLX/OgreGLXWindow.cpp (line 165)�[0m�[1;31m�[0m [gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1309] �[0m�[1;31mUnable to create the rendering window after [�[0m�[1;31m11�[0m�[1;31m] attempts.�[0m�[1;31m�[0m [gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1191] �[0m�[1;31mFailed to create dummy render window.�[0m�[1;31m�[0m [gz sim -r-1] �[1;31m[GUI] [Err] [Ogre2RenderEngine.cc:1192] �[0m�[1;31mPlease see the troubleshooting page for possible fixes: �[0m�[1;31mhttps://gazebosim.org/docs/fortress/troubleshooting�[0m�[1;31m�[0m

WaylandでなくXorgに切り替えると上記エラーは表示されなくなりましたが、limitsとmimic jointまわりでエラーが出ています。

[gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-2.8797932657906435"' and max: '2.8797932657906435"'] within ros2_control tag inside the URDF. Skipping it [gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-1.5707963267948966"' and max: '0.9599310885968813"'] within ros2_control tag inside the URDF. Skipping it [gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-1.5707963267948966"' and max: '1.5707963267948966"'] within ros2_control tag inside the URDF. Skipping it [gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-1.6057029118347832"' and max: '0.0"'] within ros2_control tag inside the URDF. Skipping it [gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-1.5707963267948966"' and max: '1.5707963267948966"'] within ros2_control tag inside the URDF. Skipping it [gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-0.00017453292519943296"' and max: '2.7401669256310974"'] within ros2_control tag inside the URDF. Skipping it [gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-1.5707963267948966"' and max: '1.5707963267948966"'] within ros2_control tag inside the URDF. Skipping it [gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-2.1467549799530254"' and max: '1.0471975511965976"'] within ros2_control tag inside the URDF. Skipping it [gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-2.9670597283903604"' and max: '2.9670597283903604"'] within ros2_control tag inside the URDF. Skipping it [gz sim -r-1] Error parsing the limits for the interface: position from the tags [min: '-0.0008726646259971648"' and max: '1.5009831567151235"'] within ros2_control tag inside the URDF. Skipping it [gz sim -r-1] terminate called after throwing an instance of 'std::runtime_error' [gz sim -r-1] what(): Joint 'r_gripper_mimic_joint' has mimic attribute not set to false: Activated mimic joints cannot have command interfaces. [gz sim -r-1] Stack trace (most recent call last) in thread 13484: [gz sim -r-1] #18 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in [gz sim -r-1] #17 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7184bd129c3b, in [gz sim -r-1] #16 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7184bd09ca93, in [gz sim -r-1] #15 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7184b7eecdb3, in [gz sim -r-1] #14 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x718480918df6, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long) [gz sim -r-1] #13 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x718480907bf9, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&) [gz sim -r-1] #12 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7184809074ca, in rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>) [gz sim -r-1] #11 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x7184a4dafda4, in [gz sim -r-1] #10 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x7184a4d3f17a, in controller_manager::ControllerManager::robot_description_callback(std_msgs::msg::String_<std::allocator<void> > const&) [gz sim -r-1] #9 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x7184a4d4497d, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) [gz sim -r-1] #8 Object "/opt/ros/jazzy/lib/libgz_ros2_control-system.so", at 0x7184a56d31e9, in [gz sim -r-1] #7 Object "/opt/ros/jazzy/lib/libhardware_interface.so", at 0x7184a4c2e195, in [gz sim -r-1] #6 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7184b7ebb390, in __cxa_throw [gz sim -r-1] #5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7184b7ea5a54, in std::terminate() [gz sim -r-1] #4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7184b7ebb0d9, in [gz sim -r-1] #3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7184b7ea5ff4, in [gz sim -r-1] #2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7184bd0288fe, in abort [gz sim -r-1] #1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7184bd04526d, in gsignal [gz sim -r-1] #0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7184bd09eb1c, in pthread_kill [gz sim -r-1] Aborted (Signal sent by tkill() 13182 1000)

PR作成時は私の方では動作確認できていました。
変更入っている可能性もあるので再度確認してみます

私の環境でも落ちる現象が再現しました
確認します

PR作成時（おそらくv8.5.0）からv8.6.0になって差分が大きそうなので、今のバージョンで動くように修正します

物理エンジンにmimic contraintsがないエラー
は公式でも認識されているようです。
ros-controls/gz_ros2_control#340
DART使う場合は無視してとのことのようです。bulletに変更することで回避できるようです

gz_frame_idが廃止されているかもしれない

に関してですが、下記の通り、SDF側に定義されていないだけのようなので、問題はなさそうです。
gazebosim/gz-sensors#306

探している中で見つけましたが、今後はgz_frame_id等は廃止になってframe_idに統一されるようです。
gazebosim/sdformat#1454
ただしsdformat15からの変更のようなので、sdformat14を使っている現在のgz-sim8.x.xではframe_idで設定してもワーニングが出ます。

こちらのコミットでframe_idに変更しました
rt-net/sciurus17_description@0bb3899

GripperActionControllerの廃止に関してはmsg型なども変わり変更量がさすがに多いので、
調査して別PRで対応検討とさせていただきたいです
ros-controls/ros2_controllers#1002

ちょうどこのPRを作成したあたりのタイミングでmainにmergeされた新機能のようです

こちらにIssue起案しました
#163

@Kuwamai
記載いただいた事項に関して状況確認と修正行いましたので、改めて確認いただけると幸いです

@chama1176
ご確認ありがとうございます！
エラーが出ていないことを確認しました。
先にdescriptionパッケージのほうApproveします

Co-authored-by: Kuwamai <[email protected]>

chama1176 · 2024-11-21T06:11:39Z

@Kuwamai
CI通るように修正したので再度確認お願いします

依存関係追加以外にフォーマット修正も行いました

Kuwamai

@chama1176
確認しました。LGTMです。

chama1176 added 8 commits July 8, 2024 16:39

jazzyでビルドが通るように修正

7fdbb47

capabilitiesに対応

40749ac

gz-sim対応

1491067

OMPLの設定ファイルを追加

45d2ccb

doc, ciをJazzy対応

537cc7d

Revert "jazzyでビルドが通るように修正"

3531db7

This reverts commit 7fdbb47.

誤ってフォーマッターをかけてしまっていたので修正します

43216c2

usb camの依存パッケージのバージョンについて記載

3e9401e

chama1176 marked this pull request as draft July 18, 2024 01:06

chama1176 added 4 commits July 18, 2024 12:48

Merge branch 'feature/support-jazzy' into feature/add-ompl-config

fa714c2

リリースされるまでバージョン指定を入れておく

5f62ad7

two handsをompl設定に追加

adc8fea

MoveitConfigsBuilder周辺の記載を変更

e96d86a

chama1176 mentioned this pull request Jul 29, 2024

mock componentsに対応します #159

Merged

2 tasks

Merge remote-tracking branch 'origin/ros2' into feature/support-jazzy

14f8e01

chama1176 marked this pull request as ready for review November 7, 2024 01:31

chama1176 requested a review from Kuwamai November 7, 2024 01:32

Kuwamai mentioned this pull request Nov 12, 2024

ROS 2 Jazzyに対応します rt-net/sciurus17_description#14

Merged

2 tasks

Kuwamai requested changes Nov 12, 2024

View reviewed changes

chama1176 and others added 5 commits November 13, 2024 11:10

Update README.md

e741c8f

Co-authored-by: Kuwamai <[email protected]>

Update sciurus17_moveit_config/launch/run_move_group.launch.py

33344ef

Co-authored-by: Kuwamai <[email protected]>

Update README.md

57d513c

Co-authored-by: Kuwamai <[email protected]>

Update README.md

39058b9

Co-authored-by: Kuwamai <[email protected]>

READMEに点群検出サンプルの依存関係に追記

26abaeb

Kuwamai assigned chama1176 Nov 20, 2024

Kuwamai added the Type: Feature New Feature label Nov 20, 2024

chama1176 added 2 commits November 21, 2024 13:29

add dependency in ci

a8d0a83

ci通るように修正

94a7527

Kuwamai approved these changes Nov 21, 2024

View reviewed changes

Kuwamai merged commit e95d841 into ros2 Nov 21, 2024
2 checks passed

Kuwamai deleted the feature/support-jazzy branch November 21, 2024 10:27

Kuwamai mentioned this pull request Jan 8, 2025

Jazzy対応 rt-net/crane_x7_ros#198

Merged

2 tasks

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

ROS 2 Jazzyに対応します #158

ROS 2 Jazzyに対応します #158

chama1176 commented Jul 18, 2024 •

edited

Loading

Kuwamai left a comment

Kuwamai Nov 12, 2024

Kuwamai Nov 12, 2024

chama1176 Nov 13, 2024

chama1176 Nov 13, 2024

chama1176 Nov 13, 2024

chama1176 Nov 19, 2024

chama1176 Nov 19, 2024 •

edited

Loading

chama1176 Nov 19, 2024

chama1176 Nov 19, 2024

Kuwamai Nov 20, 2024 •

edited

Loading

chama1176 commented Nov 21, 2024

Kuwamai left a comment

ROS 2 Jazzyに対応します #158

ROS 2 Jazzyに対応します #158

Conversation

chama1176 commented Jul 18, 2024 • edited Loading

What does this implement/fix?

Does this close any currently open issues?

How has this been tested?

Any other comments?

Checklists

Kuwamai left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

chama1176 Nov 19, 2024 • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Kuwamai Nov 20, 2024 • edited Loading

Choose a reason for hiding this comment

chama1176 commented Nov 21, 2024

Kuwamai left a comment

Choose a reason for hiding this comment

chama1176 commented Jul 18, 2024 •

edited

Loading

chama1176 Nov 19, 2024 •

edited

Loading

Kuwamai Nov 20, 2024 •

edited

Loading