Added ignition Gazebo support

[ahcorde]

Signed-off-by: ahcorde ahcorde@gmail.com

Related issue: #179

Open questions:

• Worlds are living in the turtlebot3_gazebo package. If I only want to install the ignition version we need to install all the gazebo classic dependencies.
  • Workaround: Copy files in this package too
  • Move these worlds to another package. This might break some users.

Test it

reset && ros2 launch  turtlebot3_ignition ignition.launch.py world_name:=turtlebot3_world
# or
reset && ros2 launch  turtlebot3_ignition ignition.launch.py world_name:=turtlebot3_house

In another terminal, create the map:

ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True

When the map is ready, now you can navigate:

reset && ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=true map:=$HOME/map.yaml

[ahcorde]

Just a note, the models in the world are all black because the turtlebot3_world model defines materials using the <script> tag. This could be easily fix using the following this kind of materials:

<material>
  <ambient>0 1 0 1</ambient>
  <diffuse>0 1 0 1</diffuse>
  <specular>0.1 0.1 0.1 1</specular>
</material>

This will be compatible with gazebo classic

[ROBOTIS-Ashe]

@ahcorde
Thanks for letting me know how to change the turtlebot3_world model color.
I tested your package, and I found that in my environment the TF error appeared.
Attached is the image below for detailed explanation.

---

Test environment
ROS version : ROS2 Galactic
Install Ignition Gazebo : libignition-gazebo6-dev

---

the results of running ignition.launch.py

the results of running the original way gazebo launch file.

---

When ignition.launch.py was executed, odom TF were not created.
I think I need more time to check this issue.
thank you.

[ahcorde]

uhmm, can you see any errors in the terminal ?

My guess is that ign_ros2_control is not being loaded. I can see all transforms;

I have updated the package.xml with all the required dependencies.

[ROBOTIS-Ashe]

@ahcorde
Thanks for the quick reply.
I downloaded the ign_ros2_control package to github and built it.
When I ran it, I could see the ignition gazebo launch screen quit.

Am i missing something?
In addition, attaching my log file below.

1644815508.2398326 [INFO] [launch]: All log files can be found below /home/ashekim/.ros/log/2022-02-14-14-11-48-237103-ashekim-146596
1644815508.2401421 [INFO] [launch]: Default logging verbosity is set to INFO
1644815508.9465647 [INFO] [cmd_republisher-1]: process started with pid [146642]
1644815508.9468038 [INFO] [static_transform_publisher-2]: process started with pid [146644]
1644815508.9469392 [INFO] [create-3]: process started with pid [146646]
1644815508.9470546 [INFO] [create-4]: process started with pid [146648]
1644815508.9472153 [INFO] [ign gazebo-5]: process started with pid [146650]
1644815508.9473505 [INFO] [parameter_bridge-6]: process started with pid [146652]
1644815508.9474788 [INFO] [parameter_bridge-7]: process started with pid [146655]
1644815508.9476585 [INFO] [parameter_bridge-8]: process started with pid [146657]
1644815508.9478323 [INFO] [robot_state_publisher-9]: process started with pid [146659]
1644815508.9480026 [INFO] [spawner.py-10]: process started with pid [146661]
1644815508.9481709 [INFO] [rviz2-11]: process started with pid [146680]
1644815508.9502733 [static_transform_publisher-2] [INFO] [1644815508.945508270] [static_transform_publisher]: Spinning until killed publishing transform from 'base_scan' to 'waffle_pi/base_footprint/hls_lfcd_lds'
1644815509.1391678 [spawner.py-10] [INFO] [1644815509.138914105] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
1644815509.7727187 [INFO] [create-3]: process has finished cleanly [pid 146646]
1644815509.7762702 [INFO] [create-4]: process has finished cleanly [pid 146648]
1644815510.7242894 [INFO] [ign gazebo-5]: process has finished cleanly [pid 146650]
1644815511.1474473 [spawner.py-10] [INFO] [1644815511.147212009] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
1644815513.1577702 [spawner.py-10] [INFO] [1644815513.157570411] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
1644815515.1678374 [spawner.py-10] [INFO] [1644815515.167614824] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
1644815517.1814067 [spawner.py-10] [INFO] [1644815517.180738076] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
1644815519.1941199 [spawner.py-10] [INFO] [1644815519.193796494] [spawner_joint_state_broadcaster]: Waiting for /controller_manager services
1644815519.3637755 [WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
1644815519.3745165 [static_transform_publisher-2] [INFO] [1644815519.362828625] [rclcpp]: signal_handler(signal_value=2)
1644815519.3764706 [cmd_republisher-1] [INFO] [1644815519.362854361] [rclcpp]: signal_handler(signal_value=2)
1644815519.3767893 [spawner.py-10] /opt/ros/galactic/lib/controller_manager/spawner.py:204: DeprecationWarning: 'spawner.py' is deprecated, please use 'spawner' (without .py extension)
1644815519.3769250 [spawner.py-10] warnings.warn(
1644815519.3770068 [spawner.py-10] Traceback (most recent call last):
1644815519.3770764 [spawner.py-10] File "/opt/ros/galactic/lib/controller_manager/spawner.py", line 207, in
1644815519.3771501 [spawner.py-10] ret = main()
1644815519.3772497 [spawner.py-10] File "/opt/ros/galactic/lib/controller_manager/spawner.py", line 118, in main
1644815519.3773210 [spawner.py-10] if not wait_for_controller_manager(node, controller_manager_name,
1644815519.3773901 [spawner.py-10] File "/opt/ros/galactic/lib/controller_manager/spawner.py", line 60, in wait_for_controller_manager
1644815519.3774695 [spawner.py-10] time.sleep(0.2)
1644815519.3775332 [spawner.py-10] KeyboardInterrupt
1644815519.5693271 [INFO] [cmd_republisher-1]: process has finished cleanly [pid 146642]
1644815519.5695384 [INFO] [static_transform_publisher-2]: process has finished cleanly [pid 146644]
1644815519.5701797 [INFO] [robot_state_publisher-9]: process has finished cleanly [pid 146659]
1644815519.5716181 [ERROR] [spawner.py-10]: process has died [pid 146661, exit code -2, cmd '/opt/ros/galactic/lib/controller_manager/spawner.py joint_state_broadcaster --controller-manager /controller_manager --ros-args --params-file /tmp/launch_params_sp84lh0e'].
1644815519.7224233 [INFO] [rviz2-11]: process has finished cleanly [pid 146680]
1644815519.8607197 [WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...

And the warning message appeared in the terminal :

[ign gazebo-5] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1
[ign gazebo-5] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain")
[ign gazebo-5] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: Failed to initialize QSettings instance. Status code is: 1
[ign gazebo-5] [GUI] [Wrn] [Application.cc:753] [QT] file:///usr/lib/x86_64-linux-gnu/qt5/qml/QtQuick/Dialogs/DefaultFileDialog.qml:102:33: QML Settings: The following application identifiers have not been set: QVector("organizationName", "organizationDomain")

[rviz2-11] Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp
[rviz2-11] Warning: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist
[rviz2-11] at line 156 in /tmp/binarydeb/ros-galactic-tf2-0.17.2/src/buffer_core.cpp

These are the packages I installed to run this test.
Are there any additional things I need to install?

sudo apt install libignition-gazebo6-dev
sudo apt install ros-galactic-ros-ign-*
git clone -b galactic https://github.com/ignitionrobotics/ign_ros2_control

Thank you.

[ahcorde]

I created a dockerfile to test it, create the two following files in an empty folder

Dockerfile

FROM ubuntu:20.04

ENV DEBIAN_FRONTEND noninteractive
ENV IGNITION_VERSION fortress


# Make sure everything is up to date before building from source
RUN apt-get update \
  && apt-get upgrade -y \
  && apt-get update && apt-get install -q -y --no-install-recommends \
    dirmngr \
    gnupg \
    lsb-release \
    wget \
    curl \
    git \
    ca-certificates \
    build-essential \
    cmake \
  && apt-get clean

RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
  apt-get update && apt-get install -q -y --no-install-recommends \
    python3-colcon-ros \
    python3-colcon-common-extensions \
    python3-rosdep \
    && apt-get clean

RUN mkdir -p /home/ros2_ws/src \
    && cd /home/ros2_ws/src \
    && git clone https://github.com/ahcorde/turtlebot3_simulations/ -b ahcorde/ignition_support \
    && git clone https://github.com/ignitionrobotics/ign_ros2_control -b galactic \
    && rosdep init \
    && rosdep update \
    && rosdep install --from-paths ./ -i -y --rosdistro galactic

RUN cd /home/ros2_ws/ \
  && . /opt/ros/galactic/setup.sh \
  && colcon build --merge-install

COPY entrypoint.sh /entrypoint.sh
ENTRYPOINT ["/entrypoint.sh"]

RUN apt-get update && apt-get install -q -y --no-install-recommends \
  ros-galactic-ros2launch \
  ros-galactic-turtlebot3-cartographer \
  && apt-get clean

CMD TURTLEBOT3_MODEL=burger ros2 launch turtlebot3_ignition ignition.launch.py

entrypoint.sh

#!/bin/sh

. /opt/ros/galactic/setup.sh
. /home/ros2_ws/install/setup.sh
exec "$@

run:

chmod +x entrypoint.sh
docker build -t ignition_turtblebot3 .

Install rocker with nvidia-docker2 support

Then you are ready to run:

rocker --x11 --nvidia --name ignition_turtblebot3 ignition_turtblebot3:latest

NOTE: To run SLAM or Navigation you should run ignition with this patch gazebosim/gz-sensors#195

[ahcorde]

The fix in ignition-gazebo is already released, this should be ready for a final review

[ahcorde]

ping @ashekim

[ROBOTIS-Ashe]

@ahcorde
Thanks for reminding me.
I'm currently working on other work, so testing is being delayed.
I will share the results after testing as soon as possible.
Thank you!

[ROBOTIS-Will]

Thanks @ahcorde
I'm preparing an update of turtlebot3_simulations package.
This will be included in the Galactic / Humble updates.

[ahcorde]

Super @ROBOTIS-Will,

let me know if you need something from me