Issues to spawn a second robot #25
Description
Please provide the following information:
- OS: Ubuntu 22.04
- ROS 2 Distro: Humble
- Built from source or installed: Installed followin this : https://docs.clearpathrobotics.com/docs/ros/tutorials/simulator/install
Expected behaviour
I am launching a simulation using
ros2 launch clearpath_gz simulation.launch.py rviz:=true setup_path:=$HOME/clearpath/cp1
and spawning an additional robot using
ros2 launch clearpath_gz robot_spawn.launch.py setup_path:=$HOME/clearpath/cp5
And I should expect a robot completely working.
Actual behaviour
I cannot drive the second robot.
The simulation give the following error messages:
[ruby $(which ign) gazebo-1] [ERROR] [1704465289.453031469] [a200_0005.controller_manager]: The 'type' param was not defined for 'joint_state_broadcaster'. [ruby $(which ign) gazebo-1] [ERROR] [1704465289.533124046] [a200_0005.controller_manager]: The 'type' param was not defined for 'platform_velocity_controller'.
And the spawner:
[spawner-5] [FATAL] [1704465289.454854305] [a200_0005.spawner_joint_state_broadcaster]: Failed loading controller joint_state_broadcaster
[spawner-6] [FATAL] [1704465289.536445595] [a200_0005.spawner_platform_velocity_controller]: Failed loading controller platform_velocity_controller
[ERROR] [spawner-5]: process has died [pid 138988, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner --controller-manager-timeout 60 joint_state_broadcaster --ros-args -r __ns:=/a200_0005'].
[ERROR] [spawner-6]: process has died [pid 138990, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner --controller-manager-timeout 60 platform_velocity_controller --ros-args -r `__ns:=/a200_0005'].
To Reproduce
Provide the steps to reproduce:
- Follow the installation tutorials
- Create a folder for each robot in -/clearpath/ (cp1 and cp5)
- Copy the example robot.yaml to each folder and change the serial number, host : self, and namespace to a200-0001 or 5.
serial_number: a200-0001
version: 0
system:
username: administrator
hosts:
self: cpr-a200-0001
platform:
cpr-a200-0000: 192.168.131.1
onboard: {}
remote: {}
ros2:
namespace: a200_0001
domain_id: 0
rmw_implementation: rmw_fastrtps_cpp
workspaces: []
platform:
controller: ps4
battery:
model: ES20_12C
configuration: S2P1
attachments:
- name: front_bumper
type: bumper
parent: front_bumper_mount
- name: rear_bumper
type: bumper
parent: rear_bumper_mount
- name: top_plate
type: top_plate
model: pacs
- name: sensor_arch
type: sensor_arch
parent: default_mount
model: sensor_arch_300
enabled: true
extras:
urdf: null
ros_parameters:
platform_velocity_controller:
linear.x.max_velocity": 1.0
linear.x.min_velocity": -1.0
linear.x.max_acceleration": 3.0
linear.x.min_acceleration": -3.0
angular.z.max_velocity": 2.0
angular.z.min_velocity": -2.0
angular.z.max_acceleration": 6.0
angular.z.min_acceleration": -6.0
links:
box:
- name: user_bay_cover
parent: default_mount
xyz: [0.0, 0.0, 0.0075]
rpy: [0.0, 0.0, 0.0]
size: [0.4, 0.4, 0.002]
cylinder: []
frame: []
mesh: []
sphere: []
mounts:
bracket:
- parent: top_plate_mount_d1
xyz: [0.0, 0.0, 0.0]
rpy: [0.0, 0.0, 0.0]
model: horizontal
fath_pivot:
- parent: sensor_arch_mount
xyz: [0.0, 0.0, -0.021]
rpy: [3.1415, 0.0, 0.0]
angle: 0.0
riser: []
disk: []
post: []
sensors:
camera:
- model: intel_realsense
urdf_enabled: true
launch_enabled: true
parent: fath_pivot_0_mount
xyz: [0.0, 0.0, 0.0]
rpy: [0.0, 0.0, 0.0]
ros_parameters:
camera:
camera_name: camera_0
device_type: d435
serial_no: '0'
enable_color: true
rgb_camera.profile: 640,480,30
enable_depth: true
depth_module.profile: 640,480,30
pointcloud.enable: true
gps: []
imu: []
lidar2d:
- model: hokuyo_ust
urdf_enabled: true
launch_enabled: true
parent: bracket_0_mount
xyz: [0.0, 0.0, 0.0]
rpy: [0.0, 0.0, 0.0]
ros_parameters:
urg_node:
laser_frame_id: lidar2d_0_laser
ip_address: 192.168.131.20
ip_port: 10940
angle_min: -3.141592653589793
angle_max: 3.141592653589793
lidar3d:
- model: velodyne_lidar
urdf_enabled: true
launch_enabled: true
parent: sensor_arch_mount
xyz: [0.0, 0.0, 0.0]
rpy: [0.0, 0.0, 0.0]
ros_parameters:
velodyne_driver_node:
frame_id: lidar3d_0_laser
device_ip: 192.168.131.25
port: 2368
model: VLP16
velodyne_transform_node:
model: VLP16
fixed_frame: lidar3d_0_laser
target_frame: lidar3d_0_laser
5 - Launch the simulation with
ros2 launch clearpath_gz simulation.launch.py rviz:=true setup_path:=$HOME/clearpath/cp1
6 - Spawn a robot with
ros2 launch clearpath_gz robot_spawn.launch.py setup_path:=$HOME/clearpath/cp5
7- use teleop to drive to drive the robot 5, not working
'ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=/a200_0005/cmd_vel'