Errors facing when trying to replicate the simulation.

[nzlz]

Hi, Im trying to replicate the work and my first goal is to spawn the MARA in gazebo. Before I start, my current setup is:

• gazebo 9.5.0
• ROS2 Crystal Clemmys - Pre-release (latest from source)

Dependencies and fixes

Basic things I had to fix/change during the installation:

• dependency https://github.com/erlerobot/control_msgs is not a public repo, so I used https://github.com/ros-controls/control_msgs -b bouncy-devel instead.
• dependency git clone https://github.com/ros-perception/vision_opencv.git -b ros2
• dependency sudo apt install python3-numpy
• remove all comas "," in this line, leaving it this way: <origin rpy="0 0 0" xyz="-0.0002009 0.0396149 -0.0161363"/>.
• update absolute path in call to urdf in /mara_utils_scripts/spawn_entity.py and /mara_utils_scripts/spawn_model.py .

Some error output. ws build, fixed urdf and rviz2 related: gist.

Error during the MARA spawn process in gazebo.

Once gazebo is launched (no errors), I execute spawn_entity.py but the MARA is not being loaded. The output error is available in this gist. I will keep working on this tomorrow.

[ahcorde]

Thanks for you feedback @nzlz

• I included all the dependencies that were missing. 03a13e4
• I removed the comas in the URDF, I think this is a problem of xacro. I will have a look on this. 2b905bd
• Fixed the problem with spawn_entity right now we will make use of ros2pkg to find the right path 321a800

[nzlz]

Updates

First of all I just made a PR containing a some small fixes.

Now I manage to spawn the MARA in gazebo. 👍 But in the end, I get a gazebo plugin related issue:
[Err] [Plugin.hh:180] Failed to load plugin libgazebo_grasp_fix.so: libgazebo_grasp_fix.so: cannot open shared object file: No such file or directory

libgazebo_grasp_fix.so is missing. Ive found it in JenniferBuehler/gazebo-pkgs but it uses the old catkin make. So its not compatible with the ros2 colcon build I believe. Any advice on this? I guess you have already ported the pkg somehow, or you use the ros1-brigde?

[ahcorde]

For now we don't need to grasp things. Near future to do task

[nzlz]

Everything working fine then. Just commented the libgazebo_grasp_fix.so plugin block.
mara_joint_control.py is able to move the robot too.
Closing.