Turtlebot3 simulation on ROS2 Foxy, Ubuntu 20.4.1
ROS Version: Foxy (installed from debs) Gazebo Version: 11 Ubuntu: 20.04.1
I am unable to reproduce the tutorials for Turtlebot3 simulation using the tutorial LINK and Nav2 tutorials . I have tried with source code compilation of Turtlebot3_simulation package from github for stable release version-2.1 and Foxy-devel branches.
On running the command 'ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py', the following output is printed in the console:
[INFO] [launch]: All log files can be found below /home/cair/.ros/log/2020-12-14-16-31-43-740846-cair-CELSIUS-R940-188686
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_waffle.urdf
[INFO] [gzserver-1]: process started with pid [188688]
[INFO] [gzclient -2]: process started with pid [188690]
[INFO] [robot_state_publisher-3]: process started with pid [188693]
[robot_state_publisher-3] [WARN] [1607943704.359380913] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future.
[robot_state_publisher-3] Parsing robot urdf xml string.
[robot_state_publisher-3] Link base_link had 7 children
[robot_state_publisher-3] Link camera_link had 2 children
[robot_state_publisher-3] Link camera_depth_frame had 1 children
[robot_state_publisher-3] Link camera_depth_optical_frame had 0 children
[robot_state_publisher-3] Link camera_rgb_frame had 1 children
[robot_state_publisher-3] Link camera_rgb_optical_frame had 0 children
[robot_state_publisher-3] Link caster_back_left_link had 0 children
[robot_state_publisher-3] Link caster_back_right_link had 0 children
[robot_state_publisher-3] Link imu_link had 0 children
[robot_state_publisher-3] Link base_scan had 0 children
[robot_state_publisher-3] Link wheel_left_link had 0 children
[robot_state_publisher-3] Link wheel_right_link had 0 children
[robot_state_publisher-3] [INFO] [1607943704.362992361] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-3] [INFO] [1607943704.363015106] [robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1607943704.363023980] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-3] [INFO] [1607943704.363030941] [robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-3] [INFO] [1607943704.363038257] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-3] [INFO] [1607943704.363045519] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-3] [INFO] [1607943704.363052443] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-3] [INFO] [1607943704.363059248] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-3] [INFO] [1607943704.363066229] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-3] [INFO] [1607943704.363073096] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-3] [INFO] [1607943704.363079931] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-3] [INFO] [1607943704.363086881] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-3] [INFO] [1607943704.363093791] [robot_state_publisher]: got segment wheel_right_link
[ERROR] [gzserver-1]: process has died [pid 188688, exit code 255, cmd 'gzserver /home/user/code/turtlebot3_ws/install/turtlebot3_gazebo/share/turtlebot3_gazebo/worlds/turtlebot3_worlds/waffle.model -s libgazebo_ros_init.so -s libgazebo_ros_factory.so
On killing the launch terminal, the instance of Gazebo server is still alive, which results in the reported error. The issue is resolved by manually searching for process and killing the process resolves the error. Why gzserver process do not cleanly finishes on Ctrl + C of the launch command?
I have following questions:
- Are there Nav2-tutorials using simulations which will run on ROS Foxy + Ubuntu 20.04?
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