ROS2 Navigation2 karto_sdk User Warning

asked 2021-12-08 17:11:30 -0500

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On a Linux 20.04 Bionic VMBox on MACM1, aarch64 Machine, after "installing ROS2 via Foxy with Debian Packages", https://docs.ros.org/en/foxy/Installa..., ros-foxy-desktop, and configured the colcon_w workspace, configured and sourced .bashrc, ran :~printenv|grep ROS with this result, indicating a good install: ROS_VERSION=2 ROS_PYTHON_VERSION=3 ROS_DOMAIN_ID=0 ROS_LOCALHOST_ONLY=0 ROS_DISTRO=foxy

executed :~ sudo ros2 doctor All 4 checks passed

Then installed ROS2 "ros-foxy-navigation2" and ros-foxy-nav2-bringup and executed :~ sudo ros2 doctor, to validate installation with result: /opt/ros/foxy/lib/python3.8/site-packages/ros2doctor/api/package.py: 124: UserWarning: Cannot find required versions of packages: karto_sdk

All 4 checks passed

:~

I was unable to locate the apparent missing package. Is this a critical issue or is there a remedy?

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answered 2021-12-09 16:43:35 -0500

RobotRoss

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Removing ros-foxy navigation2 & ros-foxy-nav2-bringup, no karto_sdk warning message. Installed ros-foxy-slam-toolbox, warning returned. So git clone the foxy slam_toolbox into the colcon_ws/src. Did a rosdep with "ll required rosdeps installed successfully". colcon build gereated fatal error: tf2_geometry_msgs/tf2_geometry_msgs.hpp: No such file or directory

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based on that, I'd guess that either your ros install isn't sourced (source /opt/ros/foxy/setup.bash) or you need to install missing message definitions (apt install ros-foxy-tf2-geometry-msgs)

shonigmann ( 2021-12-09 18:27:06 -0500 )edit

Trying the install, Its manually installed.. When I do a .bashrc, . .bashrc not found: "/home/ubuntu/colcon_ws/install/slam_toolbox/share/slam_toolbox/local_setup.bash"

RobotRoss ( 2021-12-10 20:57:33 -0500 )edit

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answered 2021-12-09 13:54:55 -0500

shonigmann

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This is likely related to slam_toolbox's (which is an exec dependency of nav2_bringup) dependence on open_karto. Have you run rosdep install -q -y -r --from-paths src --ignore-src. Is slam_toolbox installed on your system? (apt install ros-foxy-slamtoolbox).

As to whether or not this is a "critical" error, it depends if you want to use the functionality offered by these libraries. Non-slam functionality will likely still work just fine.

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ROS2 Navigation2 karto_sdk User Warning

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